XC167-32 User's Manual Vol.2of2, Peripheral Units, V1.0

U s e r ’ s M a n u a l , V 1 .0 , J u n e 2004
XC167-32
16-Bit Single-Chip Microcontroller
with C166SV2 Core
Volume 2 (of 2): Peripheral Units
Microcontrollers
N e v e r
s t o p
t h i n k i n g .
Edition 2004-06
Published by Infineon Technologies AG,
St.-Martin-Strasse 53,
81669 München, Germany
© Infineon Technologies AG 2004.
All Rights Reserved.
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Terms of delivery and rights to technical change reserved.
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circuits, descriptions and charts stated herein.
Information
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Due to technical requirements components may contain dangerous substances. For information on the types in
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be endangered.
U s e r ’ s M a n u a l , V 1 .0 , J u n e 2004
XC167-32
16-Bit Single-Chip Microcontroller
with C166SV2 Core
Volume 2 (of 2): Peripheral Units
Microcontrollers
N e v e r
s t o p
t h i n k i n g .
XC167-32
Volume 2 (of 2): Peripheral Units
Revision History:
V1.0, 2004-06
Previous Version:
None.
Page
Subjects (major changes since last version)
Controller Area Network (CAN): License of Robert Bosch GmbH
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Template: mc_tmplt_a5.fm / 3 / 2003-09-01
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Table of Contents
Page
This User’s Manual consists of two Volumes, “System Units” and “Peripheral Units”. For
your convenience this table of contents (and also the keyword index) lists both volumes,
so you can immediately find the reference to the desired section in the corresponding
document ([1] or [2]).
1
1.1
1.2
1.3
1.4
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 [1]
Members of the 16-bit Microcontroller Family . . . . . . . . . . . . . . . . . . . 1-3 [1]
Summary of Basic Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 [1]
Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9 [1]
Naming Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10 [1]
2
2.1
2.1.1
2.1.2
2.1.3
2.1.4
2.1.5
2.1.6
2.2
2.3
2.4
2.5
2.6
2.7
Architectural Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 [1]
Basic CPU Concepts and Optimizations . . . . . . . . . . . . . . . . . . . . . . . 2-2 [1]
High Instruction Bandwidth/Fast Execution . . . . . . . . . . . . . . . . . . . 2-4 [1]
Powerful Execution Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 [1]
High Performance Branch-, Call-, and Loop-Processing . . . . . . . . . 2-6 [1]
Consistent and Optimized Instruction Formats . . . . . . . . . . . . . . . . 2-7 [1]
Programmable Multiple Priority Interrupt System . . . . . . . . . . . . . . 2-8 [1]
Interfaces to System Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9 [1]
On-Chip System Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10 [1]
On-Chip Peripheral Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14 [1]
Clock Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29 [1]
Power Management Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29 [1]
On-Chip Debug Support (OCDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31 [1]
Protected Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-32 [1]
3
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
3.9.1
3.9.2
3.9.3
3.9.4
3.9.5
3.9.6
Memory Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 [1]
Address Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 [1]
Special Function Register Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 [1]
Data Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 [1]
Program Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11 [1]
System Stack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 [1]
IO Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14 [1]
External Memory Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15 [1]
Crossing Memory Boundaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16 [1]
The On-Chip Program Flash Module . . . . . . . . . . . . . . . . . . . . . . . . . 3-17 [1]
Flash Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19 [1]
Command Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20 [1]
Error Correction and Data Integrity . . . . . . . . . . . . . . . . . . . . . . . . 3-26 [1]
Protection and Security Features . . . . . . . . . . . . . . . . . . . . . . . . . 3-28 [1]
Flash Status Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33 [1]
Operation Control and Error Handling . . . . . . . . . . . . . . . . . . . . . . 3-36 [1]
User’s Manual
I-1
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Table of Contents
Page
3.10
3.10.1
3.10.2
3.10.3
Program Memory Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Flash Memory Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Program SRAM Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IMB Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
4.1
4.2
4.2.1
4.2.2
4.2.3
4.3
4.3.1
4.3.2
4.3.3
4.3.4
4.4
4.5
4.5.1
4.5.2
4.6
4.7
4.7.1
4.7.2
4.7.3
4.7.4
4.7.5
4.8
4.8.1
4.8.2
4.8.3
4.9
4.9.1
4.9.2
4.9.3
4.9.4
4.9.5
4.9.6
4.9.7
4.9.8
4.9.9
4.9.10
4.10
Central Processing Unit (CPU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 [1]
Components of the CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 [1]
Instruction Fetch and Program Flow Control . . . . . . . . . . . . . . . . . . . . 4-5 [1]
Branch Detection and Branch Prediction Rules . . . . . . . . . . . . . . . . 4-7 [1]
Correctly Predicted Instruction Flow . . . . . . . . . . . . . . . . . . . . . . . . 4-7 [1]
Incorrectly Predicted Instruction Flow . . . . . . . . . . . . . . . . . . . . . . . 4-9 [1]
Instruction Processing Pipeline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11 [1]
Pipeline Conflicts Using General Purpose Registers . . . . . . . . . . . 4-13 [1]
Pipeline Conflicts Using Indirect Addressing Modes . . . . . . . . . . . 4-15 [1]
Pipeline Conflicts Due to Memory Bandwidth . . . . . . . . . . . . . . . . 4-17 [1]
Pipeline Conflicts Caused by CPU-SFR Updates . . . . . . . . . . . . . 4-20 [1]
CPU Configuration Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26 [1]
Use of General Purpose Registers . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29 [1]
GPR Addressing Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31 [1]
Context Switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33 [1]
Code Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-37 [1]
Data Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39 [1]
Short Addressing Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39 [1]
Long Addressing Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41 [1]
Indirect Addressing Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-45 [1]
DSP Addressing Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-47 [1]
The System Stack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53 [1]
Standard Data Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-57 [1]
16-bit Adder/Subtracter, Barrel Shifter, and 16-bit Logic Unit . . . . 4-61 [1]
Bit Manipulation Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-61 [1]
Multiply and Divide Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-63 [1]
DSP Data Processing (MAC Unit) . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-65 [1]
Representation of Numbers and Rounding . . . . . . . . . . . . . . . . . . 4-66 [1]
The 16-bit by 16-bit Signed/Unsigned Multiplier and Scaler . . . . . 4-67 [1]
Concatenation Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-67 [1]
One-bit Scaler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-67 [1]
The 40-bit Adder/Subtracter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-67 [1]
The Data Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-68 [1]
The Accumulator Shifter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-68 [1]
The 40-bit Signed Accumulator Register . . . . . . . . . . . . . . . . . . . . 4-69 [1]
The MAC Unit Status Word MSW . . . . . . . . . . . . . . . . . . . . . . . . . 4-70 [1]
The Repeat Counter MRW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-72 [1]
Constant Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-74 [1]
User’s Manual
I-2
3-38 [1]
3-39 [1]
3-41 [1]
3-42 [1]
V1.0, 2004-06
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Peripheral Units (Vol. 2 of 2)
Table of Contents
Page
5
5.1
5.2
5.3
5.4
5.4.1
5.4.2
5.4.3
5.4.4
5.5
5.6
5.7
5.8
5.9
5.10
5.11
Interrupt and Trap Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 [1]
Interrupt System Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2 [1]
Interrupt Arbitration and Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4 [1]
Interrupt Vector Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10 [1]
Operation of the Peripheral Event Controller Channels . . . . . . . . . . 5-18 [1]
The PEC Source and Destination Pointers . . . . . . . . . . . . . . . . . . 5-22 [1]
PEC Transfer Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24 [1]
Channel Link Mode for Data Chaining . . . . . . . . . . . . . . . . . . . . . . 5-26 [1]
PEC Interrupt Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27 [1]
Prioritization of Interrupt and PEC Service Requests . . . . . . . . . . . . 5-29 [1]
Context Switching and Saving Status . . . . . . . . . . . . . . . . . . . . . . . . 5-31 [1]
Interrupt Node Sharing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34 [1]
External Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35 [1]
OCDS Requests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40 [1]
Service Request Latency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-41 [1]
Trap Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43 [1]
6
6.1
6.1.1
6.1.2
6.1.3
6.1.4
6.1.5
6.1.6
6.1.7
6.2
6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
6.2.6
6.3
6.3.1
6.3.2
6.3.3
6.3.4
6.3.5
6.4
6.4.1
6.4.2
6.4.3
General System Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 [1]
System Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2 [1]
Reset Sources and Phases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3 [1]
Status After Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6 [1]
Application-Specific Initialization Routine . . . . . . . . . . . . . . . . . . . 6-11 [1]
System Startup Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14 [1]
Hardware Configuration in External Start Mode . . . . . . . . . . . . . . 6-18 [1]
Default Configuration in Single-Chip Mode . . . . . . . . . . . . . . . . . . 6-23 [1]
Reset Behavior Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24 [1]
Clock Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26 [1]
Oscillators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27 [1]
Clock Generation and Frequency Control . . . . . . . . . . . . . . . . . . . 6-30 [1]
Clock Distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-37 [1]
Oscillator Watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-38 [1]
Interrupt Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-38 [1]
Generation of an External Clock Signal . . . . . . . . . . . . . . . . . . . . 6-39 [1]
Central System Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43 [1]
Status Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-45 [1]
Reset Source Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-46 [1]
Peripheral Shutdown Handshake . . . . . . . . . . . . . . . . . . . . . . . . . 6-47 [1]
Debug System Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-48 [1]
Register Security Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-50 [1]
Power Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-54 [1]
Power Reduction Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-54 [1]
Reduction of Clock Frequencies . . . . . . . . . . . . . . . . . . . . . . . . . . 6-57 [1]
Flexible Peripheral Management . . . . . . . . . . . . . . . . . . . . . . . . . . 6-57 [1]
User’s Manual
I-3
V1.0, 2004-06
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Peripheral Units (Vol. 2 of 2)
Table of Contents
Page
6.5
6.6
Watchdog Timer (WDT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-59 [1]
Identification Control Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-64 [1]
7
7.1
7.2
7.3
7.4
7.5
7.6
7.7
7.8
7.9
7.10
7.11
7.12
7.13
Parallel Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1 [1]
Input Threshold Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2 [1]
Output Driver Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3 [1]
Alternate Port Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8 [1]
PORT0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9 [1]
PORT1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13 [1]
Port 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24 [1]
Port 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29 [1]
Port 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-41 [1]
Port 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-50 [1]
Port 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-54 [1]
Port 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-65 [1]
Port 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-72 [1]
Port 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-82 [1]
8
Dedicated Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1 [1]
9
9.1
9.2
9.2.1
9.2.1.1
9.2.1.2
9.2.2
9.2.2.1
9.2.2.2
9.2.2.3
9.2.2.4
9.2.2.5
9.2.2.6
9.2.3
9.3
9.3.1
9.3.2
9.3.3
9.3.4
9.3.5
9.3.6
9.3.6.1
9.3.6.2
9.3.7
The External Bus Controller EBC . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1 [1]
External Bus Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3 [1]
Timing Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4 [1]
Basic Bus Cycle Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4 [1]
Demultiplexed Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5 [1]
Multiplexed Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6 [1]
Bus Cycle Phases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7 [1]
A Phase - CS Change Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7 [1]
B Phase - Address Setup/ALE Phase . . . . . . . . . . . . . . . . . . . . . 9-7 [1]
C Phase - Delay Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7 [1]
D Phase - Write Data Setup/MUX Tristate Phase . . . . . . . . . . . . 9-7 [1]
E Phase - RD/WR Command Phase . . . . . . . . . . . . . . . . . . . . . . 9-7 [1]
F Phase - Address/Write Data Hold Phase . . . . . . . . . . . . . . . . . 9-8 [1]
Bus Cycle Examples: Fastest Access Cycles . . . . . . . . . . . . . . . . . 9-8 [1]
Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10 [1]
Configuration Register Overview . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10 [1]
The EBC Mode Register 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12 [1]
The EBC Mode Register 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14 [1]
The Timing Configuration Registers TCONCSx . . . . . . . . . . . . . . 9-15 [1]
The Function Configuration Registers FCONCSx . . . . . . . . . . . . . 9-16 [1]
The Address Window Selection Registers ADDRSELx . . . . . . . . . 9-18 [1]
Definition of Address Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-18 [1]
Address Window Arbitration . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20 [1]
Ready Controlled Bus Cycles . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21 [1]
User’s Manual
I-4
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Table of Contents
Page
9.3.7.1
9.3.7.2
9.3.7.3
9.3.8
9.3.9
9.3.9.1
9.3.9.2
9.3.9.3
9.3.9.4
9.3.9.5
9.3.10
9.4
9.5
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The Synchronous/Asynchronous READY . . . . . . . . . . . . . . . . .
Combining the READY Function with Predefined Wait States .
Access Control to TwinCAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
External Bus Arbitration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Initialization of Arbitration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Arbitration Master Scheme . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Arbitration Slave Scheme . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bus Lock Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Direct Master Slave Connection . . . . . . . . . . . . . . . . . . . . . . . .
Shutdown Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LXBus Access Control and Signal Generation . . . . . . . . . . . . . . . . .
EBC Register Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-21 [1]
9-22 [1]
9-22 [1]
9-23 [1]
9-24 [1]
9-24 [1]
9-24 [1]
9-26 [1]
9-27 [1]
9-27 [1]
9-28 [1]
9-29 [1]
9-29 [1]
10
10.1
10.2
10.3
10.4
The Bootstrap Loader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Entering the Bootstrap Loader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Loading the Startup Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Exiting Bootstrap Loader Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Choosing the Baudrate for the BSL . . . . . . . . . . . . . . . . . . . . . . . . .
10-1 [1]
10-2 [1]
10-4 [1]
10-4 [1]
10-5 [1]
11
11.1
11.2
11.3
11.3.1
11.3.2
11.4
11.4.1
Debug System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Debug Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OCDS Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Debug Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Debug Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cerberus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11-1 [1]
11-1 [1]
11-2 [1]
11-3 [1]
11-5 [1]
11-6 [1]
11-7 [1]
11-7 [1]
12
Instruction Set Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1 [1]
13
Device Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1 [1]
14
14.1
14.1.1
14.1.2
14.1.3
14.1.4
14.1.5
14.1.6
14.1.7
14.2
14.2.1
The General Purpose Timer Units . . . . . . . . . . . . . . . . . . . . . . . . . 14-1 [2]
Timer Block GPT1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-2 [2]
GPT1 Core Timer T3 Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-4 [2]
GPT1 Core Timer T3 Operating Modes . . . . . . . . . . . . . . . . . . . . . 14-8 [2]
GPT1 Auxiliary Timers T2/T4 Control . . . . . . . . . . . . . . . . . . . . . 14-15 [2]
GPT1 Auxiliary Timers T2/T4 Operating Modes . . . . . . . . . . . . . 14-18 [2]
GPT1 Clock Signal Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-27 [2]
GPT1 Timer Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-29 [2]
Interrupt Control for GPT1 Timers . . . . . . . . . . . . . . . . . . . . . . . . 14-30 [2]
Timer Block GPT2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-31 [2]
GPT2 Core Timer T6 Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-33 [2]
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Table of Contents
Page
14.2.2
14.2.3
14.2.4
14.2.5
14.2.6
14.2.7
14.2.8
14.3
GPT2 Core Timer T6 Operating Modes . . . . . . . . . . . . . . . . . . . .
GPT2 Auxiliary Timer T5 Control . . . . . . . . . . . . . . . . . . . . . . . .
GPT2 Auxiliary Timer T5 Operating Modes . . . . . . . . . . . . . . . . .
GPT2 Register CAPREL Operating Modes . . . . . . . . . . . . . . . . .
GPT2 Clock Signal Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GPT2 Timer Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interrupt Control for GPT2 Timers and CAPREL . . . . . . . . . . . . .
Interfaces of the GPT Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
15.1
15.2
15.3
15.3.1
15.3.2
15.3.3
15.4
Real Time Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-1 [2]
Defining the RTC Time Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-2 [2]
RTC Run Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-5 [2]
RTC Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-7 [2]
48-bit Timer Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-10 [2]
System Clock Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-10 [2]
Cyclic Interrupt Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-11 [2]
RTC Interrupt Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-12 [2]
16
16.1
16.1.1
16.1.2
16.2
16.2.1
16.2.2
16.2.3
16.2.4
16.3
16.4
16.5
16.6
The Analog/Digital Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-1 [2]
Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-3 [2]
Compatibility Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-3 [2]
Enhanced Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-5 [2]
ADC Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-8 [2]
Fixed Channel Conversion Modes . . . . . . . . . . . . . . . . . . . . . . . . 16-11 [2]
Auto Scan Conversion Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-12 [2]
Wait for Read Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-13 [2]
Channel Injection Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-14 [2]
Automatic Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-17 [2]
Conversion Timing Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-18 [2]
A/D Converter Interrupt Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-21 [2]
Interfaces of the ADC Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-22 [2]
17
17.1
17.2
17.3
17.4
17.5
17.5.1
17.5.2
17.5.3
17.5.4
17.5.5
17.6
Capture/Compare Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-1 [2]
The CAPCOM Timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-4 [2]
CAPCOM Timer Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-9 [2]
Capture/Compare Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-10 [2]
Capture Mode Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-13 [2]
Compare Mode Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-14 [2]
Compare Mode 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-15 [2]
Compare Mode 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-15 [2]
Compare Mode 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-18 [2]
Compare Mode 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-18 [2]
Double-Register Compare Mode . . . . . . . . . . . . . . . . . . . . . . . . 17-22 [2]
Compare Output Signal Generation . . . . . . . . . . . . . . . . . . . . . . . . 17-25 [2]
User’s Manual
I-6
14-37 [2]
14-40 [2]
14-42 [2]
14-46 [2]
14-51 [2]
14-54 [2]
14-55 [2]
14-56 [2]
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17.7
17.8
17.9
17.10
17.11
Single Event Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Staggered and Non-Staggered Operation . . . . . . . . . . . . . . . . . . . .
CAPCOM Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
External Input Signal Requirements . . . . . . . . . . . . . . . . . . . . . . . .
Interfaces of the CAPCOM Units . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
18.1
18.1.1
18.1.2
18.1.3
18.1.4
18.1.5
18.2
18.2.1
18.2.2
18.3
18.4
18.5
18.5.1
18.5.2
18.5.3
18.5.4
18.6
18.7
18.8
18.9
18.10
18.11
Capture/Compare Unit 6 (CAPCOM6) . . . . . . . . . . . . . . . . . . . . . . 18-1 [2]
Timer T12 Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-4 [2]
Timer T12 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-7 [2]
T12 Compare Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-12 [2]
Dead-Time Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-22 [2]
T12 Capture Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-25 [2]
Hysteresis-Like Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-29 [2]
Timer T13 Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-30 [2]
T13 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-33 [2]
T13 Compare Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-38 [2]
Timer Block Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-42 [2]
Multi-Channel Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-48 [2]
Hall Sensor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-51 [2]
Hall Pattern Compare Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-52 [2]
Sampling of the Hall Pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-53 [2]
Brushless DC-Motor Control with Timer T12 Block . . . . . . . . . . . 18-55 [2]
Hall Mode Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-57 [2]
Trap Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-63 [2]
Output Modulation Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-67 [2]
Shadow Register Transfer Control . . . . . . . . . . . . . . . . . . . . . . . . . 18-71 [2]
Interrupt Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-73 [2]
Suspend Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-82 [2]
Interfaces of the CAPCOM6 Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-83 [2]
19
19.1
19.2
19.2.1
19.2.2
19.2.3
19.2.4
19.2.5
19.2.6
19.2.7
19.2.8
19.3
19.3.1
Asynchronous/Synchronous Serial Interface (ASC) . . . . . . . . . . 19-1 [2]
Operational Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-3 [2]
Asynchronous Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-5 [2]
Asynchronous Data Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-6 [2]
Asynchronous Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-9 [2]
Transmit FIFO Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-9 [2]
Asynchronous Reception . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-12 [2]
Receive FIFO Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-12 [2]
FIFO Transparent Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-15 [2]
IrDA Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-16 [2]
RxD/TxD Data Path Selection in Asynchronous Modes . . . . . . . 19-17 [2]
Synchronous Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-19 [2]
Synchronous Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-20 [2]
User’s Manual
I-7
17-27 [2]
17-29 [2]
17-34 [2]
17-36 [2]
17-37 [2]
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Table of Contents
Page
19.3.2
19.3.3
19.4
19.4.1
19.4.2
19.5
19.5.1
19.5.2
19.5.3
19.5.4
19.6
19.7
19.8
19.9
Synchronous Reception . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Synchronous Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Baudrate Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Baudrate in Asynchronous Mode . . . . . . . . . . . . . . . . . . . . . . . . .
Baudrate in Synchronous Mode . . . . . . . . . . . . . . . . . . . . . . . . .
Autobaud Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Serial Frames for Autobaud Detection . . . . . . . . . . . . . . . . . . . . .
Baudrate Selection and Calculation . . . . . . . . . . . . . . . . . . . . . . .
Overwriting Registers on Successful Autobaud Detection . . . . .
Hardware Error Detection Capabilities . . . . . . . . . . . . . . . . . . . . . .
Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interfaces of the ASC Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
20.1
20.2
20.2.1
20.2.2
20.2.3
20.2.4
20.2.5
20.2.6
20.2.7
20.2.8
20.3
High-Speed Synchronous Serial Interface (SSC) . . . . . . . . . . . . 20-1 [2]
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-1 [2]
Operational Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-1 [2]
Operating Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-3 [2]
Full-Duplex Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-8 [2]
Half-Duplex Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-11 [2]
Continuous Transfers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-12 [2]
Baudrate Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-12 [2]
Error Detection Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-14 [2]
SSC Register Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-16 [2]
Port Configuration Requirements . . . . . . . . . . . . . . . . . . . . . . . . 20-17 [2]
Interfaces of the SSC Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-18 [2]
21
21.1
21.2
21.3
21.3.1
21.3.2
21.3.3
21.3.4
21.3.5
21.3.6
21.4
21.5
21.6
21.7
IIC-Bus Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-1 [2]
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-2 [2]
Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-5 [2]
IIC-Bus Module Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-12 [2]
Operation in Single-Master Mode . . . . . . . . . . . . . . . . . . . . . . . . 21-12 [2]
Operation in Multimaster Mode . . . . . . . . . . . . . . . . . . . . . . . . . . 21-12 [2]
Operation in Slave Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-13 [2]
Transmit/Receive Buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-14 [2]
Baud Rate Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-15 [2]
Notes for Programming the IIC-Bus Module . . . . . . . . . . . . . . . . 21-16 [2]
Interrupt Request Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-17 [2]
Port Connection and Configuration . . . . . . . . . . . . . . . . . . . . . . . . . 21-19 [2]
Interfaces of the IIC-Bus Module . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-21 [2]
IIC-Bus Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-22 [2]
22
TwinCAN Module
User’s Manual
19-20 [2]
19-20 [2]
19-22 [2]
19-22 [2]
19-26 [2]
19-27 [2]
19-27 [2]
19-28 [2]
19-29 [2]
19-33 [2]
19-34 [2]
19-35 [2]
19-39 [2]
19-56 [2]
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-1 [2]
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Table of Contents
Page
22.1
Kernel Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-1 [2]
22.1.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-1 [2]
22.1.2
TwinCAN Control Shell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-4 [2]
22.1.2.1
Initialization Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-4 [2]
22.1.2.2
Interrupt Request Compressor . . . . . . . . . . . . . . . . . . . . . . . . . 22-5 [2]
22.1.2.3
Global Control and Status Logic . . . . . . . . . . . . . . . . . . . . . . . . 22-6 [2]
22.1.3
CAN Node Control Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-7 [2]
22.1.3.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-7 [2]
22.1.3.2
Timing Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-9 [2]
22.1.3.3
Bitstream Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-11 [2]
22.1.3.4
Error Handling Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-11 [2]
22.1.3.5
Node Interrupt Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-12 [2]
22.1.3.6
Message Interrupt Processing . . . . . . . . . . . . . . . . . . . . . . . . 22-13 [2]
22.1.3.7
Interrupt Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-13 [2]
22.1.4
Message Handling Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-15 [2]
22.1.4.1
Arbitration and Acceptance Mask Register . . . . . . . . . . . . . . . 22-16 [2]
22.1.4.2
Handling of Remote and Data Frames . . . . . . . . . . . . . . . . . . 22-17 [2]
22.1.4.3
Handling of Transmit Message Objects . . . . . . . . . . . . . . . . . . 22-18 [2]
22.1.4.4
Handling of Receive Message Objects . . . . . . . . . . . . . . . . . . 22-21 [2]
22.1.4.5
Single Data Transfer Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-23 [2]
22.1.5
CAN Message Object Buffer (FIFO) . . . . . . . . . . . . . . . . . . . . . . 22-24 [2]
22.1.5.1
Buffer Access by the CAN Controller . . . . . . . . . . . . . . . . . . . 22-26 [2]
22.1.5.2
Buffer Access by the CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-27 [2]
22.1.6
Gateway Message Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-28 [2]
22.1.6.1
Normal Gateway Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-29 [2]
22.1.6.2
Normal Gateway with FIFO Buffering . . . . . . . . . . . . . . . . . . . 22-33 [2]
22.1.6.3
Shared Gateway Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-36 [2]
22.1.7
Programming the TwinCAN Module . . . . . . . . . . . . . . . . . . . . . . 22-40 [2]
22.1.7.1
Configuration of CAN Node A/B . . . . . . . . . . . . . . . . . . . . . . . 22-40 [2]
22.1.7.2
Initialization of Message Objects . . . . . . . . . . . . . . . . . . . . . . . 22-40 [2]
22.1.7.3
Controlling a Message Transfer . . . . . . . . . . . . . . . . . . . . . . . 22-41 [2]
22.1.8
Loop-Back Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-44 [2]
22.1.9
Single Transmission Try Functionality . . . . . . . . . . . . . . . . . . . . 22-45 [2]
22.1.10
Module Clock Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-46 [2]
22.2
TwinCAN Register Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-47 [2]
22.2.1
Register Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-47 [2]
22.2.2
CAN Node A/B Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-49 [2]
22.2.3
CAN Message Object Registers . . . . . . . . . . . . . . . . . . . . . . . . . 22-64 [2]
22.2.4
Global CAN Control/Status Registers . . . . . . . . . . . . . . . . . . . . . 22-80 [2]
22.3
XC167 Module Implementation Details . . . . . . . . . . . . . . . . . . . . . . 22-82 [2]
22.3.1
Interfaces of the TwinCAN Module . . . . . . . . . . . . . . . . . . . . . . . 22-82 [2]
22.3.2
TwinCAN Module Related External Registers . . . . . . . . . . . . . . . 22-83 [2]
User’s Manual
I-9
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Table of Contents
22.3.2.1
22.3.2.2
22.3.2.3
22.3.3
23
23.1
23.2
Page
System Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Port Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interrupt Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Register Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22-84 [2]
22-85 [2]
22-90 [2]
22-91 [2]
Register Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-1 [2]
PD+BUS Peripherals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-1 [2]
LXBUS Peripherals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-16 [2]
Keyword Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i-1 [1+2]
User’s Manual
I-10
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XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
14
The General Purpose Timer Units
The General Purpose Timer Unit blocks GPT1 and GPT2 have very flexible
multifunctional timer structures which may be used for timing, event counting, pulse
width measurement, pulse generation, frequency multiplication, and other purposes.
They incorporate five 16-bit timers that are grouped into the two timer blocks GPT1 and
GPT2. Each timer in each block may operate independently in a number of different
modes such as gated timer or counter mode, or may be concatenated with another timer
of the same block. Each block has alternate input/output functions and specific interrupts
associated with it.
Block GPT1 contains three timers/counters: The core timer T3 and the two auxiliary
timers T2 and T4. The maximum resolution is fGPT/4. The auxiliary timers of GPT1 may
optionally be configured as reload or capture registers for the core timer. These registers
are listed in Section 14.1.6.
•
•
•
•
•
•
fGPT/4 maximum resolution
3 independent timers/counters
Timers/counters can be concatenated
4 operating modes:
– Timer Mode
– Gated Timer Mode
– Counter Mode
– Incremental Interface Mode
Reload and Capture functionality
Separate interrupt lines
Block GPT2 contains two timers/counters: The core timer T6 and the auxiliary timer T5.
The maximum resolution is fGPT/2. An additional Capture/Reload register (CAPREL)
supports capture and reload operation with extended functionality. These registers are
listed in Section 14.2.7. The core timer T6 may be concatenated with timers of the
CAPCOM units (T0, T1, T7, and T8).
The following list summarizes the features which are supported:
•
•
•
•
•
•
fGPT/2 maximum resolution
2 independent timers/counters
Timers/counters can be concatenated
3 operating modes:
– Timer Mode
– Gated Timer Mode
– Counter Mode
Extended capture/reload functions via 16-bit capture/reload register CAPREL
Separate interrupt lines
User’s Manual
GPT_X7, V2.0
14-1
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
14.1
Timer Block GPT1
From a programmer’s point of view, the GPT1 block is composed of a set of SFRs as
summarized below. Those portions of port and direction registers which are used for
alternate functions by the GPT1 block are shaded.
D ata R egiste rs
C o ntrol R egisters
Inte rru pt C ontrol
T2
T2C O N
T2IC
O D P3
T3
T3C O N
T3IC
D P3
T4
T4C O N
T4IC
P3
SYSC O N 3
P ort R egisters
E
A LTSEL0P3
E
P5
P5D ID IS
Tx
TxC O N
TxIC
SYSCON3
G P T 1 Tim er
G P T 1 Tim er
G P T 1 Tim er
S ystem C trl.
x R egister
x C ontrol R egister
x In terrupt C trl. R e g.
R e g. 3 (P er. M gm t.)
ODP3
DP3
P3
A LTS E L0P 3
P5
P 5D ID IS
P ort
P ort
P ort
P ort
P ort
P ort
3
3
3
3
5
5
O pen D rain C ontrol R egister
D irection C ontrol R egister
D ata R e gister
A lterna te O utput S elect R eg.
D ata R e gister
D igital Inp ut D isable R eg.
m c_ g p t0 1 0 0 _ re g iste rs.vsd
Figure 14-1 SFRs Associated with Timer Block GPT1
All three timers of block GPT1 (T2, T3, T4) can run in one of 4 basic modes: Timer Mode,
Gated Timer Mode, Counter Mode, or Incremental Interface Mode. All timers can count
up or down. Each timer of GPT1 is controlled by a separate control register TxCON.
Each timer has an input pin TxIN (alternate pin function) associated with it, which serves
as the gate control in gated timer mode, or as the count input in counter mode. The count
direction (up/down) may be programmed via software or may be dynamically altered by
a signal at the External Up/Down control input TxEUD (alternate pin function). An
overflow/underflow of core timer T3 is indicated by the Output Toggle Latch T3OTL,
whose state may be output on the associated pin T3OUT (alternate pin function). The
auxiliary timers T2 and T4 may additionally be concatenated with the core timer T3
(through T3OTL) or may be used as capture or reload registers for the core timer T3.
The current contents of each timer can be read or modified by the CPU by accessing the
corresponding timer count registers T2, T3, or T4, located in the non-bitaddressable SFR
space (see Section 14.1.6). When any of the timer registers is written to by the CPU in
the state immediately preceding a timer increment, decrement, reload, or capture
operation, the CPU write operation has priority in order to guarantee correct results.
User’s Manual
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V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
The interrupts of GPT1 are controlled through the Interrupt Control Registers TxIC.
These registers are not part of the GPT1 block. The input and output lines of GPT1 are
connected to pins of ports P3 and P5. The control registers for the port functions are
located in the respective port modules.
Note: The timing requirements for external input signals can be found in Section 14.1.5,
Section 14.3 summarizes the module interface signals, including pins.
T3CON.BPS1
f GPT
2n: 1
Basic clock
Interrupt
Request
(T2IRQ)
Aux. Timer T2
T2IN
T2EUD
T2
Mode
Control
U/D
Reload
Capture
Interrupt
Request
(T3IRQ)
T3IN
Toggle Latch
T3
Mode
Control
Core Timer T3
T3OTL
T3OUT
U/D
T3EUD
Capture
Reload
T4IN
T4EUD
T4
Mode
Control
Aux. Timer T4
Interrupt
Request
(T4IRQ)
U/D
mc_gpt0101_bldiax1.vsd
Figure 14-2 GPT1 Block Diagram (n = 2 … 5)
User’s Manual
GPT_X7, V2.0
14-3
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
14.1.1
GPT1 Core Timer T3 Control
The current contents of the core timer T3 are reflected by its count register T3. This
register can also be written to by the CPU, for example, to set the initial start value.
The core timer T3 is configured and controlled via its bitaddressable control register
T3CON.
GPT12E_T3CON
Timer 3 Control Register
15
14
T3
T3
R
CH
DIR DIR
rh
rwh
13
12
11
T3
ED
GE
BPS1
rwh
rw
SFR (FF42H/A1H)
10
9
8
7
T3
T3
T3
T3
OTL OE UDE UD
rwh
rw
rw
rw
6
Reset Value: 0000H
5
4
3
2
1
T3R
T3M
T3I
rw
rw
rw
0
Field
Bits
Type
Description
T3RDIR
15
rh
Timer T3 Rotation Direction Flag
0
Timer T3 counts up
1
Timer T3 counts down
T3CHDIR
14
rwh
Timer T3 Count Direction Change Flag
This bit is set each time the count direction of timer
T3 changes. T3CHDIR must be cleared by SW.
0
No change of count direction was detected
1
A change of count direction was detected
T3EDGE
13
rwh
Timer T3 Edge Detection Flag
The bit is set each time a count edge is detected.
T3EDGE must be cleared by SW.
0
No count edge was detected
1
A count edge was detected
BPS1
[12:11] rw
GPT1 Block Prescaler Control
Selects the basic clock for block GPT1
(see also Section 14.1.5)
00
fGPT/8
01
fGPT/4
10
fGPT/32
11
fGPT/16
T3OTL
10
Timer T3 Overflow Toggle Latch
Toggles on each overflow/underflow of T3. Can be
set or reset by software (see separate description)
User’s Manual
GPT_X7, V2.0
rwh
14-4
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
Field
Bits
Type
Description
T3OE
9
rw
Overflow/Underflow Output Enable
0
Alternate Output Function Disabled
1
State of T3 toggle latch is output on pin T3OUT
T3UDE
8
rw
Timer T3 External Up/Down Enable1)
0
Input T3EUD is disconnected
1
Direction influenced by input T3EUD
T3UD
7
rw
Timer T3 Up/Down Control1)
0
Timer T3 counts up
1
Timer T3 counts down
T3R
6
rw
Timer T3 Run Bit
0
Timer T3 stops
1
Timer T3 runs
T3M
[5:3]
rw
Timer T3 Mode Control (Basic Operating Mode)
000 Timer Mode
001 Counter Mode
010 Gated Timer Mode with gate active low
011 Gated Timer Mode with gate active high
100 Reserved. Do not use this combination.
101 Reserved. Do not use this combination.
110 Incremental Interface Mode
(Rotation Detection Mode)
111 Incremental Interface Mode
(Edge Detection Mode)
T3I
[2:0]
rw
Timer T3 Input Parameter Selection
Depends on the operating mode, see respective
sections for encoding:
Table 14-7 for Timer Mode and Gated Timer Mode
Table 14-2 for Counter Mode
Table 14-3 for Incremental Interface Mode
1) See Table 14-1 for encoding of bits T3UD and T3UDE.
User’s Manual
GPT_X7, V2.0
14-5
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
Timer T3 Run Control
The core timer T3 can be started or stopped by software through bit T3R (Timer T3 Run
Bit). This bit is relevant in all operating modes of T3. Setting bit T3R will start the timer,
clearing bit T3R stops the timer.
In gated timer mode, the timer will only run if T3R = 1 and the gate is active (high or low,
as programmed).
Note: When bit T2RC or T4RC in timer control register T2CON or T4CON is set, bit T3R
will also control (start and stop) the auxiliary timer(s) T2 and/or T4.
Count Direction Control
The count direction of the GPT1 timers (core timer and auxiliary timers) can be controlled
either by software or by the external input pin TxEUD (Timer Tx External Up/Down
Control Input). These options are selected by bits TxUD and TxUDE in the respective
control register TxCON. When the up/down control is provided by software (bit
TxUDE = 0), the count direction can be altered by setting or clearing bit TxUD. When bit
TxUDE = 1, pin TxEUD is selected to be the controlling source of the count direction.
However, bit TxUD can still be used to reverse the actual count direction, as shown in
Table 14-1. The count direction can be changed regardless of whether or not the timer
is running.
Note: When pin TxEUD is used as external count direction control input, it must be
configured as input (its corresponding direction control bit must be cleared).
Table 14-1
GPT1 Timer Count Direction Control
Pin TxEUD
Bit TxUDE
Bit TxUD
Count Direction
Bit TxRDIR
X
0
0
Count Up
0
X
0
1
Count Down
1
0
1
0
Count Up
0
1
1
0
Count Down
1
0
1
1
Count Down
1
1
1
1
Count Up
0
User’s Manual
GPT_X7, V2.0
14-6
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
Timer 3 Output Toggle Latch
The overflow/underflow signal of timer T3 is connected to a block named ‘Toggle Latch’,
shown in the timer mode diagrams. Figure 14-3 illustrates the details of this block. An
overflow or underflow of T3 will clock two latches: The first latch represents bit T3OTL in
control register T3CON. The second latch is an internal latch toggled by T3OTL’s output.
Both latch outputs are connected to the input control blocks of the auxiliary timers T2 and
T4. The output level of the shadow latch will match the output level of T3OTL, but is
delayed by one clock cycle. When the T3OTL value changes, this will result in a
temporarily different output level from T3OTL and the shadow latch, which can trigger
the selected count event in T2 and/or T4.
When software writes to T3OTL, both latches are set or cleared simultaneously. In this
case, both signals to the auxiliary timers carry the same level and no edge will be
detected. Bit T3OE (overflow/underflow output enable) in register T3CON enables the
state of T3OTL to be monitored via an external pin T3OUT. When T3OTL is linked to an
external port pin (must be configured as output), T3OUT can be used to control external
HW. If T3OE = 1, pin T3OUT outputs the state of T3OTL. If T3OE = 0, pin T3OUT
outputs a high level (as long as the T3OUT alternate function is selected for the port pin).
The trigger signals can serve as an input for the counter function or as a trigger source
for the reload function of the auxiliary timers T2 and T4.
As can be seen from Figure 14-3, when latch T3OTL is modified by software to
determine the state of the output line, also the internal shadow latch is set or cleared
accordingly. Therefore, no trigger condition is detected by T2/T4 in this case.
1
C ore Tim er
O verflow /
U nd erflow
1
Shadow
Latch
TxO TL
T o g g le L a tch L o g ic
0
MUX
TxO E
S et/C lear (S W )
T xO U T
T o P ort Logic
T o A ux. Tim er
Input Logic
m c_ g p t0 1 0 6 _ o tl.vsd
Figure 14-3 Block Diagram of the Toggle Latch Logic of Core Timer T3
User’s Manual
GPT_X7, V2.0
14-7
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
14.1.2
GPT1 Core Timer T3 Operating Modes
Timer 3 in Timer Mode
Timer mode for the core timer T3 is selected by setting bitfield T3M in register T3CON
to 000B. In timer mode, T3 is clocked with the module’s input clock fGPT divided by two
programmable prescalers controlled by bitfields BPS1 and T3I in register T3CON.
Please see Section 14.1.5 for details on the input clock options.
T3IRQ
fGPT
Prescaler
BPS1
fT3
T3I
Count
Core Timer T3
Toggle Latch
T3OUT
to
T2/T4
T3R
T3UD
0
=1
MUX
1
Up/Down
T3EUD
T3UDE
MCB05391
Figure 14-4 Block Diagram of Core Timer T3 in Timer Mode
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The General Purpose Timer Units
Gated Timer Mode
Gated timer mode for the core timer T3 is selected by setting bitfield T3M in register
T3CON to 010B or 011B. Bit T3M.0 (T3CON.3) selects the active level of the gate input.
The same options for the input frequency are available in gated timer mode as in timer
mode (see Section 14.1.5). However, the input clock to the timer in this mode is gated
by the external input pin T3IN (Timer T3 External Input).
To enable this operation, the associated pin T3IN must be configured as input, that is,
the corresponding direction control bit must contain 0.
T3IRQ
fGPT
Prescaler
BPS1
Gate
Ctrl.
T3I
fT3
Count
Core Timer T3
Toggle Latch
to
T2/T4
T3R
T3IN
T3OUT
T3UD
0
=1
MUX
1
Up/Down
T3EUD
T3UDE
MCB05392
Figure 14-5 Block Diagram of Core Timer T3 in Gated Timer Mode
If T3M = 010B, the timer is enabled when T3IN shows a low level. A high level at this line
stops the timer. If T3M = 011B, line T3IN must have a high level in order to enable the
timer. Additionally, the timer can be turned on or off by software using bit T3R. The timer
will only run if T3R is 1 and the gate is active. It will stop if either T3R is 0 or the gate is
inactive.
Note: A transition of the gate signal at pin T3IN does not cause an interrupt request.
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Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
Counter Mode
Counter Mode for the core timer T3 is selected by setting bitfield T3M in register T3CON
to 001B. In counter mode, timer T3 is clocked by a transition at the external input pin
T3IN. The event causing an increment or decrement of the timer can be a positive, a
negative, or both a positive and a negative transition at this line. Bitfield T3I in control
register T3CON selects the triggering transition (see Table 14-2).
T3IRQ
Edge
Count
T3IN
Core Timer T3
Toggle Latch
T3OUT
Select
T3I
to
T2/T4
T3R
T3UD
0
=1
MUX
Up/Down
1
T3EUD
T3UDE
MCB05393
Figure 14-6 Block Diagram of Core Timer T3 in Counter Mode
Table 14-2
GPT1 Core Timer T3 (Counter Mode) Input Edge Selection
T3I
Triggering Edge for Counter Increment/Decrement
000
None. Counter T3 is disabled
001
Positive transition (rising edge) on T3IN
010
Negative transition (falling edge) on T3IN
011
Any transition (rising or falling edge) on T3IN
1XX
Reserved. Do not use this combination
For counter mode operation, pin T3IN must be configured as input (the respective
direction control bit DPx.y must be 0). The maximum input frequency allowed in counter
mode depends on the selected prescaler value. To ensure that a transition of the count
input signal applied to T3IN is recognized correctly, its level must be held high or low for
a minimum number of module clock cycles before it changes. This information can be
found in Section 14.1.5.
User’s Manual
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Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
Incremental Interface Mode
Incremental interface mode for the core timer T3 is selected by setting bitfield T3M in
register T3CON to 110B or 111B. In incremental interface mode, the two inputs
associated with core timer T3 (T3IN, T3EUD) are used to interface to an incremental
encoder. T3 is clocked by each transition on one or both of the external input pins to
provide 2-fold or 4-fold resolution of the encoder input.
T3IN
Edge
Count
Core
Timer T3
Toggle
Latch
T3OUT
Select
to
T2/T4
T3R
T3I
T3
EDGE
T3
RDIR
_
>1
T3IRQ
T3UD
0
=1
T3EUD
MUX
Change
Detect
T3UDE
T3CH
DIR
1
Phase
Detect
T3M
T3M
MCB05394
Figure 14-7 Block Diagram of Core Timer T3 in Incremental Interface Mode
Bitfield T3I in control register T3CON selects the triggering transitions (see Table 14-3).
The sequence of the transitions of the two input signals is evaluated and generates count
pulses as well as the direction signal. So T3 is modified automatically according to the
speed and the direction of the incremental encoder and, therefore, its contents always
represent the encoder’s current position.
The interrupt request (T3IRQ) generation mode can be selected: In Rotation Detection
Mode (T3M = 110B), an interrupt request is generated each time the count direction of
T3 changes. In Edge Detection Mode (T3M = 111B), an interrupt request is generated
each time a count edge for T3 is detected. Count direction, changes in the count
direction, and count requests are monitored by status bits T3RDIR, T3CHDIR, and
T3EDGE in register T3CON.
User’s Manual
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The General Purpose Timer Units
Table 14-3
Core Timer T3 (Incremental Interface Mode) Input Edge Selection
T3I
Triggering Edge for Counter Increment/Decrement
000
None. Counter T3 stops.
001
Any transition (rising or falling edge) on T3IN.
010
Any transition (rising or falling edge) on T3EUD.
011
Any transition (rising or falling edge) on any T3 input (T3IN or T3EUD).
1XX
Reserved. Do not use this combination.
The incremental encoder can be connected directly to the XC167 without external
interface logic. In a standard system, however, comparators will be employed to convert
the encoder’s differential outputs (such as A, A) to digital signals (such as A). This greatly
increases noise immunity.
Note: The third encoder output T0, which indicates the mechanical zero position, may
be connected to an external interrupt input and trigger a reset of timer T3 (for
example via PEC transfer from ZEROS).
Signal
Conditioning
Encoder
Controller
A
A
A
B
B
B
T0
T0
T0
T3Input
T3Input
Interrupt
MCS04372
Figure 14-8 Connection of the Encoder to the XC167
For incremental interface operation, the following conditions must be met:
•
•
•
Bitfield T3M must be 110B or 111B.
Both pins T3IN and T3EUD must be configured as input, i.e. the respective direction
control bits must be 0.
Bit T3UDE must be 1 to enable automatic external direction control.
The maximum count frequency allowed in incremental interface mode depends on the
selected prescaler value. To ensure that a transition of any input signal is recognized
correctly, its level must be held high or low for a minimum number of module clock cycles
before it changes. This information can be found in Section 14.1.5.
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The General Purpose Timer Units
As in incremental interface mode two input signals with a 90° phase shift are evaluated,
their maximum input frequency can be half the maximum count frequency.
In incremental interface mode, the count direction is automatically derived from the
sequence in which the input signals change, which corresponds to the rotation direction
of the connected sensor. Table 14-4 summarizes the possible combinations.
Table 14-4
GPT1 Core Timer T3 (Incremental Interface Mode) Count Direction
Level on Respective
other Input
Rising
T3IN Input
T3EUD Input
Falling
Rising
Falling
High
Down
Up
Up
Down
Low
Up
Down
Down
Up
Figure 14-9 and Figure 14-10 give examples of T3’s operation, visualizing count signal
generation and direction control. They also show how input jitter is compensated, which
might occur if the sensor rests near to one of its switching points.
Forward
Jitter
Backward
Jitter
Forward
T3IN
T3EUD
Contents
of T3
Up
Down
Up
Note: This example shows the timer behaviour assuming that T3 counts upon any
transition on input, i.e. T3I = '011 B'.
MCT04373
Figure 14-9 Evaluation of Incremental Encoder Signals, 2 Count Inputs
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The General Purpose Timer Units
Forward
Jitter
Backward
Jitter
Forward
T3IN
T3EUD
Contents
of T3
Up
Down
Up
Note: This example shows the timer behaviour assuming that T3 counts upon any
transition on input T3IN, i.e. T3I = '001 B'.
MCT04374
Figure 14-10 Evaluation of Incremental Encoder Signals, 1 Count Input
Note: Timer T3 operating in incremental interface mode automatically provides
information on the sensor’s current position. Dynamic information (speed,
acceleration, deceleration) may be obtained by measuring the incoming signal
periods. This is facilitated by an additional special capture mode for timer T5 (see
Section 14.2.5).
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The General Purpose Timer Units
14.1.3
GPT1 Auxiliary Timers T2/T4 Control
Auxiliary timers T2 and T4 have exactly the same functionality. They can be configured
for timer mode, gated timer mode, counter mode, or incremental interface mode with the
same options for the timer frequencies and the count signal as the core timer T3. In
addition to these 4 counting modes, the auxiliary timers can be concatenated with the
core timer, or they may be used as reload or capture registers in conjunction with the
core timer. The start/stop function of the auxiliary timers can be remotely controlled by
the T3 run control bit. Several timers may thus be controlled synchronously.
The current contents of an auxiliary timer are reflected by its count register T2 or T4,
respectively. These registers can also be written to by the CPU, for example, to set the
initial start value.
The individual configurations for timers T2 and T4 are determined by their bitaddressable
control registers T2CON and T4CON, which are organized identically. Note that
functions which are present in all 3 timers of block GPT1 are controlled in the same bit
positions and in the same manner in each of the specific control registers.
Note: The auxiliary timers have no output toggle latch and no alternate output function.
GPT12E_T2CON
Timer 2 Control Register
15
14
T2
T2
R
CH
DIR DIR
rh
rwh
SFR (FF40H/A0H)
13
12
11
10
T2
ED
GE
T2
IR
DIS
-
-
T2
T2
T2
RC UDE UD
rwh
rw
-
-
rw
GPT12E_T4CON
Timer 4 Control Register
15
14
T4
T4
R
CH
DIR DIR
rh
rwh
9
8
rw
7
rw
6
Reset Value: 0000H
5
4
12
11
10
9
8
T4
ED
GE
T4
IR
DIS
-
-
T4
T4
T4
RC UDE UD
rwh
rw
-
-
rw
rw
7
rw
T2I
rw
rw
rw
6
0
Reset Value: 0000H
5
4
3
2
1
T4R
T4M
T4I
rw
rw
rw
Bits
Type
Description
TxRDIR
15
rh
Timer Tx Rotation Direction
0
Timer x counts up
1
Timer x counts down
14-15
1
T2M
Field
User’s Manual
GPT_X7, V2.0
2
T2R
SFR (FF44H/A2H)
13
3
0
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The General Purpose Timer Units
Field
Bits
Type
Description
TxCHDIR
14
rwh
Timer Tx Count Direction Change
This bit is set each time the count direction of timer
Tx changes. TxCHDIR must be cleared by SW.
0
No change in count direction was detected
1
A change in count direction was detected
TxEDGE
13
rwh
Timer Tx Edge Detection
The bit is set each time a count edge is detected.
TxEDGE must be cleared by SW.
0
No count edge was detected
1
A count edge was detected
TxIRDIS
12
rw
Timer Tx Interrupt Request Disable
0
Interrupt generation for TxCHDIR and
TxEDGE interrupts in Incremental Interface
Mode is enabled
1
Interrupt generation for TxCHDIR and
TxEDGE interrupts in Incremental Interface
Mode is disabled
TxRC
9
rw
Timer Tx Remote Control
0
Timer Tx is controlled by its own run bit TxR
1
Timer Tx is controlled by the run bit T3R of core
timer 3, not by bit TxR
TxUDE
8
rw
Timer Tx External Up/Down Enable1)
0
Input TxEUD is disconnected
1
Direction influenced by input TxEUD
TxUD
7
rw
Timer Tx Up/Down Control1)
0
Timer Tx counts up
1
Timer Tx counts down
TxR
6
rw
Timer Tx Run Bit
0
Timer Tx stops
1
Timer Tx runs
Note: This bit only controls timer Tx if bit TxRC = 0.
User’s Manual
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The General Purpose Timer Units
Field
Bits
Type
Description
TxM
[5:3]
rw
Timer Tx Mode Control (Basic Operating Mode)
000 Timer Mode
001 Counter Mode
010 Gated Timer Mode with gate active low
011 Gated Timer Mode with gate active high
100 Reload Mode
101 Capture Mode
110 Incremental Interface Mode (Rotation Detect.)
111 Incremental Interface Mode (Edge Detection)
TxI
[2:0]
rw
Timer Tx Input Parameter Selection
Depends on the operating mode, see respective
sections for encoding:
Table 14-7 for Timer Mode and Gated Timer Mode
Table 14-2 for Counter Mode
Table 14-3 for Incremental Interface Mode
1) See Table 14-1 for encoding of bits TxUD and TxUDE.
Timer T2/T4 Run Control
Each of the auxiliary timers T2 and T4 can be started or stopped by software in two
different ways:
•
•
Through the associated timer run bit (T2R or T4R). In this case it is required that the
respective control bit TxRC = 0.
Through the core timer’s run bit (T3R). In this case the respective remote control bit
must be set (TxRC = 1).
The selected run bit is relevant in all operating modes of T2/T4. Setting the bit will start
the timer, clearing the bit stops the timer.
In gated timer mode, the timer will only run if the selected run bit is set and the gate is
active (high or low, as programmed).
Note: If remote control is selected T3R will start/stop timer T3 and the selected auxiliary
timer(s) synchronously.
Count Direction Control
The count direction of the GPT1 timers (core timer and auxiliary timers) is controlled in
the same way, either by software or by the external input pin TxEUD. Please refer to the
description in Table 14-1.
Note: When pin TxEUD is used as external count direction control input, it must be
configured as input (its corresponding direction control bit must be cleared).
User’s Manual
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The General Purpose Timer Units
14.1.4
GPT1 Auxiliary Timers T2/T4 Operating Modes
The operation of the auxiliary timers in the basic operating modes is almost identical with
the core timer’s operation, with very few exceptions. Additionally, some combined
operating modes can be selected.
Timers T2 and T4 in Timer Mode
Timer mode for an auxiliary timer Tx is selected by setting its bitfield TxM in register
TxCON to 000B.
fGPT
fTx
Prescaler
BPS1
Count
Auxiliary
Timer Tx
TxIRQ
TxI
TxR
T3R
0
MUX
1
TxRC
TxUD
0
=1
MUX
1
Up/Down
TxEUD
TxUDE
x = 2, 4
MCB05395
Figure 14-11 Block Diagram of an Auxiliary Timer in Timer Mode
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The General Purpose Timer Units
Timers T2 and T4 in Gated Timer Mode
Gated timer mode for an auxiliary timer Tx is selected by setting bitfield TxM in register
TxCON to 010B or 011B. Bit TxM.0 (TxCON.3) selects the active level of the gate input.
Note: A transition of the gate signal at line TxIN does not cause an interrupt request.
fGPT
Prescaler
BPS1
Gate
Ctrl.
fTx
Count
Auxiliary
Timer Tx
TxIRQ
TxI
TxIN
TxM
TxR
T3R
0
MUX
1
TxRC
TxUD
0
=1
MUX
1
Up/Down
TxEUD
TxUDE
x = 2, 4
MCB05396
Figure 14-12 Block Diagram of an Auxiliary Timer in Gated Timer Mode
Note: There is no output toggle latch for T2 and T4.
Start/stop of an auxiliary timer can be controlled locally or remotely.
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The General Purpose Timer Units
Timers T2 and T4 in Counter Mode
Counter mode for an auxiliary timer Tx is selected by setting bitfield TxM in register
TxCON to 001B. In counter mode, an auxiliary timer can be clocked either by a transition
at its external input line TxIN, or by a transition of timer T3’s toggle latch T3OTL. The
event causing an increment or decrement of a timer can be a positive, a negative, or both
a positive and a negative transition at either the respective input pin or at the toggle latch.
Bitfield TxI in control register TxCON selects the triggering transition (see Table 14-5).
TxIN
T3
Toggle
Latch
0
Edge
MUX
Count
1
Auxiliary
Timer Tx
TxIRQ
Select
TxI.2
TxR
T3R
TxI
0
MUX
1
TxRC
TxUD
0
=1
MUX
1
Up/Down
TxEUD
TxUDE
x = 2, 4
MCB05397
Figure 14-13 Block Diagram of an Auxiliary Timer in Counter Mode
Table 14-5
GPT1 Auxiliary Timer (Counter Mode) Input Edge Selection
T2I/T4I
Triggering Edge for Counter Increment/Decrement
X00
None. Counter Tx is disabled
001
Positive transition (rising edge) on TxIN
010
Negative transition (falling edge) on TxIN
011
Any transition (rising or falling edge) on TxIN
101
Positive transition (rising edge) of T3 toggle latch T3OTL
110
Negative transition (falling edge) of T3 toggle latch T3OTL
111
Any transition (rising or falling edge) of T3 toggle latch T3OTL
Note: Only state transitions of T3OTL which are caused by the overflows/underflows of
T3 will trigger the counter function of T2/T4. Modifications of T3OTL via software
will NOT trigger the counter function of T2/T4.
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The General Purpose Timer Units
For counter operation, pin TxIN must be configured as input (the respective direction
control bit DPx.y must be 0). The maximum input frequency allowed in counter mode
depends on the selected prescaler value. To ensure that a transition of the count input
signal applied to TxIN is recognized correctly, its level must be held high or low for a
minimum number of module clock cycles before it changes. This information can be
found in Section 14.1.5.
Timers T2 and T4 in Incremental Interface Mode
Incremental interface mode for an auxiliary timer Tx is selected by setting bitfield TxM in
the respective register TxCON to 110B or 111B. In incremental interface mode, the two
inputs associated with an auxiliary timer Tx (TxIN, TxEUD) are used to interface to an
incremental encoder. Tx is clocked by each transition on one or both of the external input
pins to provide 2-fold or 4-fold resolution of the encoder input.
TxIN
Edge
Count
Auxiliary
Timer Tx
Tx
Edge
Tx
RDIR
Overflow
Underflow
Select
TxI TxR
T3R
0
MUX
1
TxRC
&
TxUD
0
=1
TxEUD
MUX
Change
Detect
TxUDE
TxCH
DIR
1
Phase
Detect
_
>1
TxIRQ
TxM
&
TxM
TxIRDIS
MCB05398
Figure 14-14 Block Diagram of an Auxiliary Timer in Incremental Interface Mode
The operation of the auxiliary timers T2 and T4 in incremental interface mode and the
interrupt generation are the same as described for the core timer T3. The descriptions,
figures and tables apply accordingly.
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Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
Timer Concatenation
Using the toggle bit T3OTL as a clock source for an auxiliary timer in counter mode
concatenates the core timer T3 with the respective auxiliary timer. This concatenation
forms either a 32-bit or a 33-bit timer/counter, depending on which transition of T3OTL
is selected to clock the auxiliary timer.
•
•
32-bit Timer/Counter: If both a positive and a negative transition of T3OTL are used
to clock the auxiliary timer, this timer is clocked on every overflow/underflow of the
core timer T3. Thus, the two timers form a 32-bit timer.
33-bit Timer/Counter: If either a positive or a negative transition of T3OTL is
selected to clock the auxiliary timer, this timer is clocked on every second
overflow/underflow of the core timer T3. This configuration forms a 33-bit timer (16-bit
core timer + T3OTL + 16-bit auxiliary timer).
As long as bit T3OTL is not modified by software, it represents the state of the internal
toggle latch, and can be regarded as part of the 33-bit timer.
The count directions of the two concatenated timers are not required to be the same.
This offers a wide variety of different configurations.
T3, which represents the low-order part of the concatenated timer, can operate in timer
mode, gated timer mode or counter mode in this case.
T3IRQ
fGPT
T3IN
Operating
Mode
Control
BPS1
TxIN
0
MUX
TxI
Count
Core Timer T3
T3R
T3OUT
Auxiliary
Timer Tx
TxIRQ
Up/Down
Edge
Count
1
Select
TxI.2
Toggle Latch
TxI TxR
T3R
0
MUX
Up/Down
1
TxRC
x = 2, 4
MCA05399
Figure 14-15 Concatenation of Core Timer T3 and an Auxiliary Timer
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The General Purpose Timer Units
Auxiliary Timer in Reload Mode
Reload Mode for an auxiliary timer Tx is selected by setting bitfield TxM in the respective
register TxCON to 100B. In reload mode, the core timer T3 is reloaded with the contents
of an auxiliary timer register, triggered by one of two different signals. The trigger signal
is selected the same way as the clock source for counter mode (see Table 14-5), i.e. a
transition of the auxiliary timer’s input TxIN or the toggle latch T3OTL may trigger the
reload.
Note: When programmed for reload mode, the respective auxiliary timer (T2 or T4) stops
independently of its run flag T2R or T4R.
The timer input pin TxIN must be configured as input if it shall trigger a reload
operation.
T3IRQ
fGPT
T3IN
Operating
Mode
Control
BPS1
TxIN
0
MUX
TxI
Count
T3R
Edge
1
Core Timer T3
Toggle Latch
T3OUT
Up/Down
Reload
TxIRQ
Select
TxI.2
TxI
Auxiliary
Timer Tx
x = 2, 4
MCA05400
Figure 14-16 GPT1 Auxiliary Timer in Reload Mode
Upon a trigger signal, T3 is loaded with the contents of the respective timer register (T2
or T4) and the respective interrupt request flag (T2IR or T4IR) is set.
Note: When a T3OTL transition is selected for the trigger signal, the interrupt request
flag T3IR will also be set upon a trigger, indicating T3’s overflow or underflow.
Modifications of T3OTL via software will NOT trigger the counter function of T2/T4.
To ensure that a transition of the reload input signal applied to TxIN is recognized
correctly, its level must be held high or low for a minimum number of module clock
cycles, detailed in Section 14.1.5.
The reload mode triggered by the T3 toggle latch can be used in a number of different
configurations. The following functions can be performed, depending on the selected
active transition:
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The General Purpose Timer Units
•
•
•
If both a positive and a negative transition of T3OTL are selected to trigger a reload,
the core timer will be reloaded with the contents of the auxiliary timer each time it
overflows or underflows. This is the standard reload mode (reload on
overflow/underflow).
If either a positive or a negative transition of T3OTL is selected to trigger a reload, the
core timer will be reloaded with the contents of the auxiliary timer on every second
overflow or underflow.
Using this “single-transition” mode for both auxiliary timers allows to perform very
flexible Pulse Width Modulation (PWM). One of the auxiliary timers is programmed to
reload the core timer on a positive transition of T3OTL, the other is programmed for
a reload on a negative transition of T3OTL. With this combination the core timer is
alternately reloaded from the two auxiliary timers.
Figure 14-17 shows an example for the generation of a PWM signal using the “singletransition” reload mechanism. T2 defines the high time of the PWM signal (reloaded on
positive transitions) and T4 defines the low time of the PWM signal (reloaded on negative
transitions). The PWM signal can be output on pin T3OUT if T3OE = 1. With this method,
the high and low time of the PWM signal can be varied in a wide range.
Note: The output toggle latch T3OTL is accessible via software and may be changed, if
required, to modify the PWM signal.
However, this will NOT trigger the reloading of T3.
User’s Manual
GPT_X7, V2.0
14-24
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
Auxiliary
Timer T2
T2IN
0
Edge
MUX
1
Reload
T2IRQ
Select
T2I.2
T2I
T3IRQ
fGPT
T3IN
Operating
Mode
Control
BPS1
T4IN
0
MUX
T3I
Count
T3R
Edge
1
Core Timer T3
Toggle Latch
T3OUT
Up/Down
Reload
T4IRQ
Select
T4I.2
T4I
Auxiliary
Timer T4
MCA05401
Figure 14-17 GPT1 Timer Reload Configuration for PWM Generation
Note: Although possible, selecting the same reload trigger event for both auxiliary timers
should be avoided. In such a case, both reload registers would try to load the core
timer at the same time. If this combination is selected, T2 is disregarded and the
contents of T4 is reloaded.
User’s Manual
GPT_X7, V2.0
14-25
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
Auxiliary Timer in Capture Mode
Capture mode for an auxiliary timer Tx is selected by setting bitfield TxM in the respective
register TxCON to 101B. In capture mode, the contents of the core timer T3 are latched
into an auxiliary timer register in response to a signal transition at the respective auxiliary
timer’s external input pin TxIN. The capture trigger signal can be a positive, a negative,
or both a positive and a negative transition.
The two least significant bits of bitfield TxI select the active transition (see Table 14-5).
Bit 2 of TxI is irrelevant for capture mode and must be cleared (TxI.2 = 0).
Note: When programmed for capture mode, the respective auxiliary timer (T2 or T4)
stops independently of its run flag T2R or T4R.
T3IRQ
fGPT
T3IN
Operating
Mode
Control
BPS1
T3I
Count
T3R
Edge
TxIN
Core Timer T3
Up/Down
Toggle Latch
T3OUT
to Ty
Capture
TxIRQ
Select
TxI
Auxiliary
Timer Tx
x = 2, 4
y = 4, 2
MCA05402
Figure 14-18 GPT1 Auxiliary Timer in Capture Mode
Upon a trigger (selected transition) at the corresponding input pin TxIN the contents of
the core timer are loaded into the auxiliary timer register and the associated interrupt
request flag TxIR will be set.
For capture mode operation, the respective timer input pin TxIN must be configured as
input. To ensure that a transition of the capture input signal applied to TxIN is recognized
correctly, its level must be held high or low for a minimum number of module clock
cycles, detailed in Section 14.1.5.
User’s Manual
GPT_X7, V2.0
14-26
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
14.1.5
GPT1 Clock Signal Control
All actions within the timer block GPT1 are triggered by transitions of its basic clock. This
basic clock is derived from the system clock by a basic block prescaler, controlled by
bitfield BPS1 in register T3CON (see Figure 14-2). The count clock can be generated in
two different ways:
•
•
Internal count clock, derived from GPT1’s basic clock via a programmable
prescaler, is used for (gated) timer mode.
External count clock, derived from the timer’s input pin(s), is used for counter mode.
For both ways, the basic clock determines the maximum count frequency and the timer’s
resolution:
Table 14-6
Basic Clock Selection for Block GPT1
Block Prescaler1)
BPS1 = 01B
BPS1 = 00B2) BPS1 = 11B
BPS1 = 10B
Prescaling Factor for
GPT1: F(BPS1)
F(BPS1)
=4
F(BPS1)
=8
F(BPS1)
= 16
F(BPS1)
= 32
Maximum External
Count Frequency
fGPT/8
fGPT/16
fGPT/32
fGPT/64
Input Signal
Stable Time
4 × tGPT
8 × tGPT
16 × tGPT
32 × tGPT
1) Please note the non-linear encoding of bitfield BPS1.
2) Default after reset.
Internal Count Clock Generation
In timer mode and gated timer mode, the count clock for each GPT1 timer is derived from
the GPT1 basic clock by a programmable prescaler, controlled by bitfield TxI in the
respective timer’s control register TxCON.
The count frequency fTx for a timer Tx and its resolution rTx are scaled linearly with lower
clock frequencies, as can be seen from the following formula:
f GPT
f Tx = -------------------------------------------<Txl>
F ( BPS1 ) × 2
<Txl>
( BPS1 ) × 2
--------------------------------------------r Tx [ µs ] = F
f GPT [ MHz ]
(14.1)
The effective count frequency depends on the common module clock prescaler factor
F(BPS1) as well as on the individual input prescaler factor 2<TxI>. Table 14-7 summarizes
the resulting overall divider factors for a GPT1 timer that result from these cascaded
prescalers.
Table 14-8 lists a timer’s parameters (such as count frequency, resolution, and period)
resulting from the selected overall prescaler factor and the applied system frequency.
Note that some numbers may be rounded.
User’s Manual
GPT_X7, V2.0
14-27
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
Table 14-7
GPT1 Overall Prescaler Factors for Internal Count Clock
Individual
Prescaler for Tx
Common Prescaler for Module Clock1)
BPS1 = 01B
BPS1 = 00B
BPS1 = 11B
BPS1 = 10B
TxI = 000B
4
8
16
32
TxI = 001B
8
16
32
64
TxI = 010B
16
32
64
128
TxI = 011B
32
64
128
256
TxI = 100B
64
128
256
512
TxI = 101B
128
256
512
1024
TxI = 110B
256
512
1024
2048
TxI = 111B
512
1024
2048
4096
1) Please note the non-linear encoding of bitfield BPS1.
Table 14-8
GPT1 Timer Parameters
System Clock = 10 MHz
Overall
Divider
Factor
System Clock = 40 MHz
Frequency
Resolution Period
2.5 MHz
400 ns
26.21 ms 4
10.0 MHz
100 ns
6.55 ms
1.25 MHz
800 ns
52.43 ms 8
5.0 MHz
200 ns
13.11 ms
625.0 kHz
1.6 µs
104.9 ms 16
2.5 MHz
400 ns
26.21 ms
312.5 kHz
3.2 µs
209.7 ms 32
1.25 MHz
800 ns
52.43 ms
156.25 kHz
6.4 µs
419.4 ms 64
625.0 kHz
1.6 µs
104.9 ms
78.125 kHz
12.8 µs
838.9 ms 128
312.5 kHz
3.2 µs
209.7 ms
39.06 kHz
25.6 µs
1.678 s
256
156.25 kHz 6.4 µs
419.4 ms
19.53 kHz
51.2 µs
3.355 s
512
78.125 kHz 12.8 µs
838.9 ms
9.77 kHz
102.4 µs
6.711 s
1024
39.06 kHz
25.6 µs
1.678 s
4.88 kHz
204.8 µs
13.42 s
2048
19.53 kHz
51.2 µs
3.355 s
2.44 kHz
409.6 µs
26.84 s
4096
9.77 kHz
102.4 µs
6.711 s
User’s Manual
GPT_X7, V2.0
14-28
Frequency Resolution Period
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
External Count Clock Input
The external input signals of the GPT1 block are sampled with the GPT1 basic clock (see
Figure 14-2). To ensure that a signal is recognized correctly, its current level (high or
low) must be held active for at least one complete sampling period, before changing. A
signal transition is recognized if two subsequent samples of the input signal represent
different levels. Therefore, a minimum of two basic clock periods are required for the
sampling of an external input signal. Thus, the maximum frequency of an input signal
must not be higher than half the basic clock.
Table 14-9 summarizes the resulting requirements for external GPT1 input signals.
Table 14-9
GPT1 External Input Signal Limits
System Clock = 10 MHz Input
Max. Input
Min. Level Frequ.
Frequency
Hold Time Factor
1.25 MHz
400 ns
625.0 kHz
800 ns
312.5 kHz
1.6 µs
156.25 kHz
3.2 µs
fGPT/8
fGPT/16
fGPT/32
fGPT/64
System Clock = 40 MHz
GPT1
Input
Divider Phase
Max. Input Min. Level
BPS1
Duration Frequency Hold Time
01B
4 × tGPT
5.0 MHz
100 ns
00B
8 × tGPT
2.5 MHz
200 ns
11B
16 × tGPT
1.25 MHz
400 ns
10B
32 × tGPT
625.0 kHz
800 ns
These limitations are valid for all external input signals to GPT1, including the external
count signals in counter mode and incremental interface mode, the gate input signals in
gated timer mode, and the external direction signals.
14.1.6
GPT1 Timer Registers
GPT12E_Tx
Timer x Count Register
15
14
13
12
11
SFR (FE4xH/2yH)
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
Txvalue
rwh
Table 14-10 GPT1 Timer Register Locations
Timer Register
Physical Address
8-Bit Address
T3
FE42H
21H
T2
FE40H
20H
T4
FE44H
22H
User’s Manual
GPT_X7, V2.0
14-29
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
14.1.7
Interrupt Control for GPT1 Timers
When a timer overflows from FFFFH to 0000H (when counting up), or when it underflows
from 0000H to FFFFH (when counting down), its interrupt request flag (T2IR, T3IR or
T4IR) in register TxIC will be set. This will cause an interrupt to the respective timer
interrupt vector (T2INT, T3INT or T4INT) or trigger a PEC service, if the respective
interrupt enable bit (T2IE, T3IE or T4IE in register TxIC) is set. There is an interrupt
control register for each of the three timers.
GPT12E_T2IC
Timer 2 Intr. Ctrl. Reg.
SFR (FF60H/B0H)
15
14
13
12
11
10
9
-
-
-
-
-
-
-
-
-
-
-
-
-
-
GPT12E_T3IC
Timer 3 Intr. Ctrl. Reg.
8
7
6
Reset Value: - - 00H
5
GPX T2IR T2IE
rw
rwh
4
3
14
13
12
11
10
9
-
-
-
-
-
-
-
-
-
-
-
-
-
-
GPT12E_T4IC
Timer 4 Intr. Ctrl. Reg.
8
7
rw
rw
Reset Value: - - 00H
5
GPX T3IR T3IE
rw
rwh
4
3
14
13
12
11
10
9
-
-
-
-
-
-
-
-
-
-
-
-
-
-
8
7
GPX T4IR T4IE
rw
rwh
rw
1
0
GLVL
rw
rw
rw
6
2
ILVL
SFR (FF64H/B2H)
15
0
GLVL
rw
6
1
ILVL
SFR (FF62H/B1H)
15
2
Reset Value: - - 00H
5
4
3
2
1
0
ILVL
GLVL
rw
rw
Note: Please refer to the general Interrupt Control Register description for an
explanation of the control fields.
User’s Manual
GPT_X7, V2.0
14-30
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
14.2
Timer Block GPT2
From a programmer’s point of view, the GPT2 block is represented by a set of SFRs as
summarized below. Those portions of port and direction registers which are used for
alternate functions by the GPT2 block are shaded.
Data Registers
Interrupt Control
Control Registers
Port Registers
T5
T5CON
T5IC
ODP3
T6
T6CON
T6IC
DP3
CRIC
P3
CAPREL
SYSCON3
E
ALTSEL0P3
E
P5
P5DIDIS
Tx
CAPREL
TxCON
TxIC
SYSCON3
GPT2 Timer x Register
GPT2 Capture/Reload Register
GPT2 Timer x Control Register
GPT2 Timer x Interrupt Ctrl. Reg.
System Ctrl. Reg. 3 (Per. Mgmt.)
ODP3
DP3
P3
ALTSEL0P3
P5
P5DIDIS
Port 3 Open Drain Control Register
Port 3 Direction Control Register
Port 3 Data Register
Port 3 Alternate Output Select Reg.
Port 5 Data Register
Port 5 Digital Input Disable Reg.
mc_gpt0107_registers.vsd
Figure 14-19 SFRs Associated with Timer Block GPT2
Both timers of block GPT2 (T5, T6) can run in one of 3 basic modes: Timer Mode, Gated
Timer Mode, or Counter Mode. All timers can count up or down. Each timer of GPT2 is
controlled by a separate control register TxCON.
Each timer has an input pin TxIN (alternate pin function) associated with it, which serves
as the gate control in gated timer mode, or as the count input in counter mode. The count
direction (up/down) may be programmed via software or may be dynamically altered by
a signal at the External Up/Down control input TxEUD (alternate pin function). An
overflow/underflow of core timer T6 is indicated by the Output Toggle Latch T6OTL,
whose state may be output on the associated pin T6OUT (alternate pin function). The
auxiliary timer T5 may additionally be concatenated with core timer T6 (through T6OTL).
The Capture/Reload register CAPREL can be used to capture the contents of timer T5,
or to reload timer T6. A special mode facilitates the use of register CAPREL for both
functions at the same time. This mode allows frequency multiplication. The capture
function is triggered by the input pin CAPIN, or by GPT1 timer’s T3 input lines T3IN and
T3EUD. The reload function is triggered by an overflow or underflow of timer T6.
Overflows/underflows of timer T6 may also clock the timers of the CAPCOM units.
The current contents of each timer can be read or modified by the CPU by accessing the
corresponding timer count registers T5 or T6, located in the non-bitaddressable SFR
User’s Manual
GPT_X7, V2.0
14-31
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
space (see Section 14.2.7). When any of the timer registers is written to by the CPU in
the state immediately preceding a timer increment, decrement, reload, or capture
operation, the CPU write operation has priority in order to guarantee correct results.
The interrupts of GPT2 are controlled through the Interrupt Control Registers TxIC.
These registers are not part of the GPT2 block. The input and output lines of GPT2 are
connected to pins of Ports P3 and P5. The control registers for the port functions are
located in the respective port modules.
Note: The timing requirements for external input signals can be found in Section 14.2.6,
Section 14.3 summarizes the module interface signals, including pins.
T6CON.BPS2
f GPT
2n: 1
Basic clock
Interrupt
Request
(T5IR)
GPT2 Timer T5
T5IN
T5EUD
T5
Mode
Control
U/D
Clear
Capture
CAPIN
T3IN/
T3EUD
CAPREL
Mode
Control
GPT2 CAPREL
Interrupt
Request
(CRIR)
Reload
Interrupt
Request
(T6IR)
Clear
Toggle FF
GPT2 Timer T6
T6IN
T6
Mode
Control
U/D
T6OTL
T6OUT
T6OUF
T6EUD
mc_gpt0108_bldiax4.vsd
Figure 14-20 GPT2 Block Diagram
User’s Manual
GPT_X7, V2.0
14-32
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
14.2.1
GPT2 Core Timer T6 Control
The current contents of the core timer T6 are reflected by its count register T6. This
register can also be written to by the CPU, for example, to set the initial start value.
The core timer T6 is configured and controlled via its bitaddressable control register
T6CON.
GPT12E_T6CON
Timer 6 Control Register
15
14
13
12
11
T6
T6
SR CLR
-
BPS2
rw
-
rw
rw
SFR (FF48H/A4H)
10
9
8
7
T6
T6
T6
T6
OTL OE UDE UD
rwh
rw
rw
rw
6
Reset Value: 0000H
5
4
3
2
1
T6R
T6M
T6I
rw
rw
rw
0
Field
Bits
Type
Description
T6SR
15
rw
Timer 6 Reload Mode Enable
0
Reload from register CAPREL Disabled
1
Reload from register CAPREL Enabled
T6CLR
14
rw
Timer T6 Clear Enable Bit
0
Timer T6 is not cleared on a capture event
1
Timer T6 is cleared on a capture event
BPS2
[12:11] rw
GPT2 Block Prescaler Control
Selects the basic clock for block GPT2
(see also Section 14.2.6)
00
fGPT/4
01
fGPT/2
10
fGPT/16
11
fGPT/8
T6OTL
10
rwh
Timer T6 Overflow Toggle Latch
Toggles on each overflow/underflow of T6. Can be
set or reset by software (see separate description)
T6OE
9
rw
Overflow/Underflow Output Enable
0
Alternate Output Function Disabled
1
State of T6 toggle latch is output on pin T6OUT
T6UDE
8
rw
Timer T6 External Up/Down Enable1)
0
Input T6EUD is disconnected
1
Direction influenced by input T6EUD
User’s Manual
GPT_X7, V2.0
14-33
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
Field
Bits
Type
Description
T6UD
7
rw
Timer T6 Up/Down Control1)
0
Timer T6 counts up
1
Timer T6 counts down
T6R
6
rw
Timer T6 Run Bit
0
Timer T6 stops
1
Timer T6 runs
T6M
[5:3]
rw
Timer T6 Mode Control (Basic Operating Mode)
000 Timer Mode
001 Counter Mode
010 Gated Timer Mode with gate active low
011 Gated Timer Mode with gate active high
100 Reserved. Do not use this combination.
101 Reserved. Do not use this combination.
110 Reserved. Do not use this combination.
111 Reserved. Do not use this combination.
T6I
[2:0]
rw
Timer T6 Input Parameter Selection
Depends on the operating mode, see respective
sections for encoding:
Table 14-16 for Timer Mode and Gated Timer Mode
Table 14-12 for Counter Mode
1) See Table 14-11 for encoding of bits T6UD and T6UDE.
User’s Manual
GPT_X7, V2.0
14-34
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
Timer T6 Run Control
The core timer T6 can be started or stopped by software through bit T6R (timer T6 run
bit). This bit is relevant in all operating modes of T6. Setting bit T6R will start the timer,
clearing bit T6R stops the timer.
In gated timer mode, the timer will only run if T6R = 1 and the gate is active (high or low,
as programmed).
Note: When bit T5RC in timer control register T5CON is set, bit T6R will also control
(start and stop) the Auxiliary Timer T5.
Count Direction Control
The count direction of the GPT2 timers (core timer and auxiliary timer) can be controlled
either by software or by the external input pin TxEUD (Timer Tx External Up/Down
Control Input). These options are selected by bits TxUD and TxUDE in the respective
control register TxCON. When the up/down control is provided by software (bit
TxUDE = 0), the count direction can be altered by setting or clearing bit TxUD. When bit
TxUDE = 1, pin TxEUD is selected to be the controlling source of the count direction.
However, bit TxUD can still be used to reverse the actual count direction, as shown in
Table 14-11. The count direction can be changed regardless of whether or not the timer
is running.
Table 14-11 GPT2 Timer Count Direction Control
Pin TxEUD
Bit TxUDE
Bit TxUD
Count Direction
X
0
0
Count Up
X
0
1
Count Down
0
1
0
Count Up
1
1
0
Count Down
0
1
1
Count Down
1
1
1
Count Up
User’s Manual
GPT_X7, V2.0
14-35
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
Timer 6 Output Toggle Latch
The overflow/underflow signal of timer T6 is connected to a block named ‘Toggle Latch’,
shown in the timer mode diagrams. Figure 14-21 illustrates the details of this block. An
overflow or underflow of T6 will clock two latches: The first latch represents bit T6OTL in
control register T6CON. The second latch is an internal latch toggled by T6OTL’s output.
Both latch outputs are connected to the input control block of the auxiliary timer T5. The
output level of the shadow latch will match the output level of T6OTL, but is delayed by
one clock cycle. When the T6OTL value changes, this will result in a temporarily different
output level from T6OTL and the shadow latch, which can trigger the selected count
event in T5.
When software writes to T6OTL, both latches are set or cleared simultaneously. In this
case, both signals to the auxiliary timers carry the same level and no edge will be
detected. Bit T6OE (overflow/underflow output enable) in register T6CON enables the
state of T6OTL to be monitored via an external pin T6OUT. When T6OTL is linked to an
external port pin (must be configured as output), T6OUT can be used to control external
HW. If T6OE = 1, pin T6OUT outputs the state of T6OTL. If T6OE = 0, pin T6OUT
outputs a high level (while it selects the timer output signal).
As can be seen from Figure 14-21, when latch T6OTL is modified by software to
determine the state of the output line, also the internal shadow latch is set or cleared
accordingly. Therefore, no trigger condition is detected by T5 in this case.
S et/C lear (S W )
1
C ore Tim er
O verflow /
U nd erflow
1
Shadow
Latch
TxO TL
T o g g le L a tch L o g ic
0
MUX
TxO E
T xO U T
T o P ort Logic
T o A ux. Tim er
Input Logic
m c_ g p t0 1 0 6 _ o tl.vsd
Figure 14-21 Block Diagram of the Toggle Latch Logic of Core Timer T6
Note: T6 is also used to clock the timers in the CAPCOM units. For this purpose, there
is a direct internal connection between the T6 overflow/underflow line and the
CAPCOM timers (signal T6OUF).
User’s Manual
GPT_X7, V2.0
14-36
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
14.2.2
GPT2 Core Timer T6 Operating Modes
Timer 6 in Timer Mode
Timer mode for the core timer T6 is selected by setting bitfield T6M in register T6CON
to 000B. In this mode, T6 is clocked with the module’s input clock fGPT divided by two
programmable prescalers controlled by bitfields BPS2 and T6I in register T6CON.
Please see Section 14.2.6 for details on the input clock options.
T6IRQ
fGPT
Prescaler
fT6
Count
Core Timer T6
Toggle Latch
T6OUT
to T5/
BPS2
T6I
CAPREL
T6R
T6OUF
T6UD
0
=1
MUX
1
Up/Down
T6EUD
T6UDE
MCB05403_X4
Figure 14-22 Block Diagram of Core Timer T6 in Timer Mode
User’s Manual
GPT_X7, V2.0
14-37
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
Gated Timer Mode
Gated timer mode for the core timer T6 is selected by setting bitfield T6M in register
T6CON to 010B or 011B. Bit T6M.0 (T6CON.3) selects the active level of the gate input.
The same options for the input frequency are available in gated timer mode as in timer
mode (see Section 14.2.6). However, the input clock to the timer in this mode is gated
by the external input pin T6IN (Timer T6 External Input).
To enable this operation, the associated pin T6IN must be configured as input (the
corresponding direction control bit must contain 0).
T6IRQ
fGPT
Prescaler
BPS2
Gate
Ctrl.
fT6
Count
Core Timer T6
Toggle Latch
T6OUT
to T5,
T6I
T6R
T6IN
Clear
CAPREL
T6OUF
T6UD
0
=1
MUX
1
Up/Down
T6EUD
T6UDE
MCB05404_X4
Figure 14-23 Block Diagram of Core Timer T6 in Gated Timer Mode
If T6M = 010B, the timer is enabled when T6IN shows a low level. A high level at this line
stops the timer. If T6M = 011B, line T6IN must have a high level in order to enable the
timer. Additionally, the timer can be turned on or off by software using bit T6R. The timer
will only run if T6R is 1 and the gate is active. It will stop if either T6R is 0 or the gate is
inactive.
Note: A transition of the gate signal at pin T6IN does not cause an interrupt request.
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The General Purpose Timer Units
Counter Mode
Counter mode for the core timer T6 is selected by setting bitfield T6M in register T6CON
to 001B. In counter mode, timer T6 is clocked by a transition at the external input pin
T6IN. The event causing an increment or decrement of the timer can be a positive, a
negative, or both a positive and a negative transition at this line. Bitfield T6I in control
register T6CON selects the triggering transition (see Table 14-12).
T6IRQ
Edge
Count
T6IN
Core Timer T6
Toggle Latch
T6OUT
Select
to T5,
T6R
T6I
Clear
CAPREL
T6OUF
T6UD
0
=1
MUX
1
Up/Down
T6EUD
T6UDE
MCB05405_X4
Figure 14-24 Block Diagram of Core Timer T6 in Counter Mode
Table 14-12 GPT2 Core Timer T6 (Counter Mode) Input Edge Selection
T6I
Triggering Edge for Counter Increment/Decrement
000
None. Counter T6 is disabled
001
Positive transition (rising edge) on T6IN
010
Negative transition (falling edge) on T6IN
011
Any transition (rising or falling edge) on T6IN
1XX
Reserved. Do not use this combination
For counter mode operation, pin T6IN must be configured as input (the respective
direction control bit DPx.y must be 0). The maximum input frequency allowed in counter
mode depends on the selected prescaler value. To ensure that a transition of the count
input signal applied to T6IN is recognized correctly, its level must be held high or low for
a minimum number of module clock cycles before it changes. This information can be
found in Section 14.2.6.
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The General Purpose Timer Units
14.2.3
GPT2 Auxiliary Timer T5 Control
Auxiliary timer T5 can be configured for timer mode, gated timer mode, or counter mode
with the same options for the timer frequencies and the count signal as the core timer
T6. In addition to these 3 counting modes, the auxiliary timer can be concatenated with
the core timer. The contents of T5 may be captured to register CAPREL upon an external
or an internal trigger. The start/stop function of the auxiliary timers can be remotely
controlled by the T6 run control bit. Several timers may thus be controlled synchronously.
The current contents of the auxiliary timer are reflected by its count register T5. This
register can also be written to by the CPU, for example, to set the initial start value.
The individual configurations for timer T5 are determined by its bitaddressable control
register T5CON. Some bits in this register also control the function of the CAPREL
register. Note that functions which are present in all timers of block GPT2 are controlled
in the same bit positions and in the same manner in each of the specific control registers.
Note: The auxiliary timer has no output toggle latch and no alternate output function.
GPT12E_T5CON
Timer 5 Control Register
15
14
13
12
SFR (FF46H/A3H)
11
10
T5
T5
SC CLR
CI
T5
CC
CT3
rw
rw
rw
rw
rw
9
8
7
T5
T5
T5
RC UDE UD
rw
rw
rw
6
Reset Value: 0000H
5
4
3
2
1
T5R
T5M
T5I
rw
rw
rw
Field
Bits
Type
Description
T5SC
15
rw
Timer 5 Capture Mode Enable
0
Capture into register CAPREL Disabled
1
Capture into register CAPREL Enabled
T5CLR
14
rw
Timer T5 Clear Enable Bit
0
Timer T5 is not cleared on a capture event
1
Timer T5 is cleared on a capture event
CI
[13:12] rw
User’s Manual
GPT_X7, V2.0
0
Register CAPREL Capture Trigger Selection
(depending on bit CT3)
00
Capture disabled
01
Positive transition (rising edge) on CAPIN or
any transition on T3IN
10
Negative transition (falling edge) on CAPIN or
any transition on T3EUD
11
Any transition (rising or falling edge) on CAPIN
or any transition on T3IN or T3EUD
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The General Purpose Timer Units
Field
Bits
Type
Description
T5CC
11
rw
Timer T5 Capture Correction
0
T5 is just captured without any correction
1
T5 is decremented by 1 before being captured
CT3
10
rw
Timer T3 Capture Trigger Enable
0
Capture trigger from input line CAPIN
1
Capture trigger from T3 input lines T3IN and/or
T3EUD
T5RC
9
rw
Timer T5 Remote Control
0
Timer T5 is controlled by its own run bit T5R
1
Timer T5 is controlled by the run bit T6R of
core timer 6, not by bit T5R
T5UDE
8
rw
Timer T5 External Up/Down Enable1)
0
Input T5EUD is disconnected
1
Direction influenced by input T5EUD
T5UD
7
rw
Timer T5 Up/Down Control1)
0
Timer T5 counts up
1
Timer T5 counts down
T5R
6
rw
Timer T5 Run Bit
0
Timer T5 stops
1
Timer T5 runs
Note: This bit only controls timer T5 if bit T5RC = 0.
T5M
[5:3]
rw
Timer T5 Mode Control (Basic Operating Mode)
000 Timer Mode
001 Counter Mode
010 Gated Timer Mode with gate active low
011 Gated Timer Mode with gate active high
1XX Reserved. Do not use this combination
T5I
[2:0]
rw
Timer T5 Input Parameter Selection
Depends on the operating mode, see respective
sections for encoding:
Table 14-16 for Timer Mode and Gated Timer Mode
Table 14-12 for Counter Mode
1) See Table 14-11 for encoding of bits T5UD and T5UDE.
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The General Purpose Timer Units
Timer T5 Run Control
The auxiliary timer T5 can be started or stopped by software in two different ways:
•
•
Through the associated timer run bit (T5R). In this case it is required that the
respective control bit T5RC = 0.
Through the core timer’s run bit (T6R). In this case the respective remote control bit
must be set (T5RC = 1).
The selected run bit is relevant in all operating modes of T5. Setting the bit will start the
timer, clearing the bit stops the timer.
In gated timer mode, the timer will only run if the selected run bit is set and the gate is
active (high or low, as programmed).
Note: If remote control is selected T6R will start/stop timer T6 and the auxiliary timer T5
synchronously.
14.2.4
GPT2 Auxiliary Timer T5 Operating Modes
The operation of the auxiliary timer in the basic operating modes is almost identical with
the core timer’s operation, with very few exceptions. Additionally, some combined
operating modes can be selected.
Timer T5 in Timer Mode
Timer Mode for the auxiliary timer T5 is selected by setting its bitfield T5M in register
T5CON to 000B.
fGPT
fT5
Prescaler
BPS2
Count
T5I
Auxiliary
Timer T5
T5IRQ
Clear
T5R
T6R
0
MUX
1
T5RC
T5UD
0
=1
MUX
1
Up/Down
T5EUD
T5UDE
MCB05406_X4
Figure 14-25 Block Diagram of Auxiliary Timer T5 in Timer Mode
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The General Purpose Timer Units
Timer T5 in Gated Timer Mode
Gated timer mode for the auxiliary timer T5 is selected by setting bitfield T5M in register
T5CON to 010B or 011B. Bit T5M.0 (T5CON.3) selects the active level of the gate input.
Note: A transition of the gate signal at line T5IN does not cause an interrupt request.
fGPT
Prescaler
BPS2
Gate
Ctrl.
fT5
Count
Auxiliary
Timer T5
T5IRQ
T5I
T5IN
Clear
T5R
T6R
0
MUX
1
T5RC
T5UD
0
=1
MUX
1
Up/Down
T5EUD
T5UDE
MCB05407_X4
Figure 14-26 Block Diagram of Auxiliary Timer T5 in Gated Timer Mode
Note: There is no output toggle latch for T5.
Start/stop of the auxiliary timer can be controlled locally or remotely.
Timer T5 in Counter Mode
Counter mode for auxiliary timer T5 is selected by setting bitfield T5M in register T5CON
to 001B. In counter mode, the auxiliary timer can be clocked either by a transition at its
external input line T5IN, or by a transition of timer T6’s toggle latch T6OTL. The event
causing an increment or decrement of a timer can be a positive, a negative, or both a
positive and a negative transition at either the respective input pin or at the toggle latch.
Bitfield T5I in control register T5CON selects the triggering transition (see Table 14-13).
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The General Purpose Timer Units
T5IN
T6
Toggle
Latch
0
Edge
MUX
Count
1
Auxiliary
Timer T5
T5IRQ
Select
T5I.2
T5R
T6R
T5I
0
Clear
MUX
1
T5RC
T5UD
0
=1
MUX
Up/Down
1
T5EUD
T5UDE
MCB05408_X4
Figure 14-27 Block Diagram of Auxiliary Timer T5 in Counter Mode
Table 14-13 GPT2 Auxiliary Timer (Counter Mode) Input Edge Selection
T5I
Triggering Edge for Counter Increment/Decrement
X00
None. Counter T5 is disabled
001
Positive transition (rising edge) on T5IN
010
Negative transition (falling edge) on T5IN
011
Any transition (rising or falling edge) on T5IN
101
Positive transition (rising edge) of T6 toggle latch T6OTL
110
Negative transition (falling edge) of T6 toggle latch T6OTL
111
Any transition (rising or falling edge) of T6 toggle latch T6OTL
Note: Only state transitions of T6OTL which are caused by the overflows/underflows of
T6 will trigger the counter function of T5. Modifications of T6OTL via software will
NOT trigger the counter function of T5.
For counter operation, pin T5IN must be configured as input (the respective direction
control bit DPx.y must be 0). The maximum input frequency allowed in counter mode
depends on the selected prescaler value. To ensure that a transition of the count input
signal applied to T5IN is recognized correctly, its level must be held high or low for a
minimum number of module clock cycles before it changes. This information can be
found in Section 14.2.6.
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The General Purpose Timer Units
Timer Concatenation
Using the toggle bit T6OTL as a clock source for the auxiliary timer in counter mode
concatenates the core timer T6 with the auxiliary timer T5. This concatenation forms
either a 32-bit or a 33-bit timer/counter, depending on which transition of T6OTL is
selected to clock the auxiliary timer.
•
•
32-bit Timer/Counter: If both a positive and a negative transition of T6OTL are used
to clock the auxiliary timer, this timer is clocked on every overflow/underflow of the
core timer T6. Thus, the two timers form a 32-bit timer.
33-bit Timer/Counter: If either a positive or a negative transition of T6OTL is
selected to clock the auxiliary timer, this timer is clocked on every second
overflow/underflow of the core timer T6. This configuration forms a 33-bit timer (16-bit
core timer + T6OTL + 16-bit auxiliary timer).
As long as bit T6OTL is not modified by software, it represents the state of the internal
toggle latch, and can be regarded as part of the 33-bit timer.
The count directions of the two concatenated timers are not required to be the same.
This offers a wide variety of different configurations.
T6, which represents the low-order part of the concatenated timer, can operate in timer
mode, gated timer mode or counter mode in this case.
T6IRQ
fGPT
T6IN
Operating
Mode
Control
BPS2
T5IN
0
MUX
T6I
Count
Core Timer T6
T6R
Clear
Edge
T6OUT
Auxiliary
Timer T5
T5IRQ
Up/Down
Count
1
Toggle Latch
Select
T5I.2
T5I T5R
T6R
0
MUX
Clear
Up/Down
1
T5RC
MCA05409
Figure 14-28 Concatenation of Core Timer T6 and Auxiliary Timer T5
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The General Purpose Timer Units
14.2.5
GPT2 Register CAPREL Operating Modes
The Capture/Reload register CAPREL can be used to capture the contents of timer T5,
or to reload timer T6. A special mode facilitates the use of register CAPREL for both
functions at the same time. This mode allows frequency multiplication. The capture
function is triggered by the input pin CAPIN, or by GPT1 timer’s T3 input lines T3IN and
T3EUD. The reload function is triggered by an overflow or underflow of timer T6.
In addition to the capture function, the capture trigger signal can also be used to clear
the contents of timers T5 and T6 individually.
The functions of register CAPREL are controlled via several bit(field)s in the timer control
registers T5CON and T6CON.
GPT2 Capture/Reload Register CAPREL in Capture Mode
Capture mode for register CAPREL is selected by setting bit T5SC in control register
T5CON (set bitfield CI in register T5CON to a non-zero value to select a trigger signal).
In capture mode, the contents of the auxiliary timer T5 are latched into register CAPREL
in response to a signal transition at the selected external input pin(s). Bit CT3 selects the
external input line CAPIN or the input lines T3IN and/or T3EUD of GPT1 timer T3 as the
source for a capture trigger. Either a positive, a negative, or both a positive and a
negative transition at line CAPIN can be selected to trigger the capture function, or
transitions on input T3IN or input T3EUD or both inputs, T3IN and T3EUD. The active
edge is controlled by bitfield CI in register T5CON. Table 14-14 summarizes these
options.
Table 14-14 CAPREL Register Input Edge Selection
CT3
CI
Triggering Signal/Edge for Capture Mode
X
00
None. Capture Mode is disabled.
0
01
Positive transition (rising edge) on CAPIN.
0
10
Negative transition (falling edge) on CAPIN.
0
11
Any transition (rising or falling edge) on CAPIN.
1
01
Any transition (rising or falling edge) on T3IN.
1
10
Any transition (rising or falling edge) on T3EUD.
1
11
Any transition (rising or falling edge) on T3IN or T3EUD.
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The General Purpose Timer Units
Count
Clock
Auxiliary
Timer T5
T5IRQ
Clear
Up/Down
Edge
CAPIN
T5CLR
Select
0
MUX
1
T3IN
T3EUD
Signal
Select
CT3
Capture
Correction
Capture
T5SC
T5CC
CAPREL
Register
CI
CRIRQ
Clear
T6
T6CLR
MCA05410
Figure 14-29 GPT2 Register CAPREL in Capture Mode
When a selected trigger is detected, the contents of the auxiliary timer T5 are latched
into register CAPREL and the interrupt request line CRIRQ is activated. The same event
can optionally clear timer T5 and/or timer T6. This option is enabled by bit T5CLR in
register T5CON and bit T6CLR in register T6CON, respectively. If TxCLR = 0 the
contents of timer Tx is not affected by a capture. If TxCLR = 1 timer Tx is cleared after
the current timer T5 value has been latched into register CAPREL.
Note: Bit T5SC only controls whether or not a capture is performed. If T5SC is cleared
the external input pin(s) can still be used to clear timer T5 and/or T6, or as external
interrupt input(s). This interrupt is controlled by the CAPREL interrupt control
register CRIC.
When capture triggers T3IN or T3EUD are enabled (CT3 = 1), register CAPREL captures
the contents of T5 upon transitions of the selected input(s). These values can be used
to measure T3’s input signals. This is useful, for example, when T3 operates in
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The General Purpose Timer Units
incremental interface mode, in order to derive dynamic information (speed, acceleration)
from the input signals.
For capture mode operation, the selected pins CAPIN, T3IN, or T3EUD must be
configured as input. To ensure that a transition of a trigger input signal applied to one of
these inputs is recognized correctly, its level must be held high or low for a minimum
number of module clock cycles, detailed in Section 14.2.6.
GPT2 Capture/Reload Register CAPREL in Reload Mode
Reload mode for register CAPREL is selected by setting bit T6SR in control register
T6CON. In reload mode, the core timer T6 is reloaded with the contents of register
CAPREL, triggered by an overflow or underflow of T6. This will not activate the interrupt
request line CRIRQ associated with the CAPREL register. However, interrupt request
line T6IRQ will be activated, indicating the overflow/underflow of T6.
CAPREL
Register
Reload
T6SR
T6IRQ
Count
Clock
Core Timer T6
Up/Down
Toggle Latch
T6OUT
T6OUF
to T5
MCA05411
Figure 14-30 GPT2 Register CAPREL in Reload Mode
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The General Purpose Timer Units
GPT2 Capture/Reload Register CAPREL in Capture-And-Reload Mode
Since the reload function and the capture function of register CAPREL can be enabled
individually by bits T5SC and T6SR, the two functions can be enabled simultaneously by
setting both bits. This feature can be used to generate an output frequency that is a
multiple of the input frequency.
Count
Clock
Auxiliary
Timer T5
T5IRQ
Clear
Up/Down
Edge
CAPIN
T5CLR
Select
0
MUX
1
T3IN
T3EUD
Capture
Correction
Capture
T5CC
Edge
CT3
T5SC
CAPREL
Register
Select
CI
CRIRQ
Reload
Clear
T6SR
T6IRQ
T6CLR
Count
Clock
Core Timer T6
Toggle Latch
Up/Down
T6OUT
T6OUF
to T5
MCA05412
Figure 14-31 GPT2 Register CAPREL in Capture-And-Reload Mode
This combined mode can be used to detect consecutive external events which may
occur aperiodically, but where a finer resolution, that means, more ‘ticks’ within the time
between two external events is required.
For this purpose, the time between the external events is measured using timer T5 and
the CAPREL register. Timer T5 runs in timer mode counting up with a frequency of e.g.
fGPT/32. The external events are applied to pin CAPIN. When an external event occurs,
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the contents of timer T5 are latched into register CAPREL and timer T5 is cleared
(T5CLR = 1). Thus, register CAPREL always contains the correct time between two
events, measured in timer T5 increments. Timer T6, which runs in timer mode counting
down with a frequency of e.g. fGPT/4, uses the value in register CAPREL to perform a
reload on underflow. This means, the value in register CAPREL represents the time
between two underflows of timer T6, now measured in timer T6 increments. Since (in this
example) timer T6 runs 8 times faster than timer T5, it will underflow 8 times within the
time between two external events. Thus, the underflow signal of timer T6 generates
8 ‘ticks’. Upon each underflow, the interrupt request line T6IRQ will be activated and bit
T6OTL will be toggled. The state of T6OTL may be output on pin T6OUT. This signal has
8 times more transitions than the signal which is applied to pin CAPIN.
Note: The underflow signal of Timer T6 can furthermore be used to clock one or more of
the timers of the CAPCOM units, which gives the user the possibility to set
compare events based on a finer resolution than that of the external events. This
connection is accomplished via signal T6OUF.
Capture Correction
A certain deviation of the output frequency is generated by the fact that timer T5 will
count actual time units (e.g. T5 running at 1 MHz will count up to the value 64H/100D for
a 10 kHz input signal), while T6OTL will only toggle upon an underflow of T6 (i.e. the
transition from 0000H to FFFFH). In the above mentioned example, T6 would count down
from 64H, so the underflow would occur after 101 timing ticks of T6. The actual output
frequency then is 79.2 kHz, instead of the expected 80 kHz.
This deviation can be compensated for by activating the Capture Correction (T5CC = 1).
If capture correction is active, the contents of T5 are decremented by 1 before being
captured. The described deviation is eliminated (in the example, T5 would count up to
the value 64H/100D, but the CAPREL register will capture the decremented value
63H/99D, T6 would count exactly 100 ticks, and the output frequency is 80 kHz).
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The General Purpose Timer Units
14.2.6
GPT2 Clock Signal Control
All actions within the timer block GPT2 are triggered by transitions of its basic clock. This
basic clock is derived from the system clock by a basic block prescaler, controlled by
bitfield BPS2 in register T6CON (see Figure 14-20). The count clock can be generated
in two different ways:
•
•
Internal count clock, derived from GPT2’s basic clock via a programmable
prescaler, is used for (gated) timer mode.
External count clock, derived from the timer’s input pin(s), is used for counter mode.
For both ways, the basic clock determines the maximum count frequency and the timer’s
resolution:
Table 14-15 Basic Clock Selection for Block GPT2
Block Prescaler1)
BPS2 = 00B2)
BPS2 = 11B
BPS2 = 10B
Prescaling Factor F(BPS2)
for GPT2: F(BPS2) = 2
F(BPS2)
=4
F(BPS2)
=8
F(BPS2)
= 16
Maximum External fGPT/4
Count Frequency
fGPT/8
fGPT/16
fGPT/32
4 × tGPT
8 × tGPT
16 × tGPT
Input Signal
Stable Time
BPS2 = 01B
2 × tGPT
1) Please note the non-linear encoding of bitfield BPS2.
2) Default after reset.
Internal Count Clock Generation
In timer mode and gated timer mode, the count clock for each GPT2 timer is derived from
the GPT2 basic clock by a programmable prescaler, controlled by bitfield TxI in the
respective timer’s control register TxCON.
The count frequency fTx for a timer Tx and its resolution rTx are scaled linearly with lower
clock frequencies, as can be seen from the following formula:
f GPT
f Tx = -------------------------------------------<Txl>
F ( BPS2 ) × 2
<Txl>
( BPS2 ) × 2
--------------------------------------------r Tx [ µs ] = F
f GPT [ MHz ]
(14.2)
The effective count frequency depends on the common module clock prescaler factor
F(BPS2) as well as on the individual input prescaler factor 2<TxI>. Table 14-16
summarizes the resulting overall divider factors for a GPT2 timer that result from these
cascaded prescalers.
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Table 14-16 GPT2 Overall Prescaler Factors for Internal Count Clock
Individual
Prescaler for Tx
Common Prescaler for Module Clock1)
BPS2 = 01B
BPS2 = 00B
BPS2 = 11B
BPS2 = 10B
TxI = 000B
2
4
8
16
TxI = 001B
4
8
16
32
TxI = 010B
8
16
32
64
TxI = 011B
16
32
64
128
TxI = 100B
32
64
128
256
TxI = 101B
64
128
256
512
TxI = 110B
128
256
512
1024
TxI = 111B
256
512
1024
2048
1) Please note the non-linear encoding of bitfield BPS2.
Table 14-17 lists a timer’s parameters (such as count frequency, resolution, and period)
resulting from the selected overall prescaler factor and the applied system frequency.
Note that some numbers may be rounded.
Table 14-17 GPT2 Timer Parameters
System Clock = 10 MHz
Overall
Divider
Factor
System Clock = 40 MHz
Frequency
Resolution Period
5.0 MHz
200 ns
13.11 ms 2
20.0 MHz
50 ns
3.28 ms
2.5 MHz
400 ns
26.21 ms 4
10.0 MHz
100 ns
6.55 ms
1.25 MHz
800 ns
52.43 ms 8
5.0 MHz
200 ns
13.11 ms
625.0 kHz
1.6 µs
104.9 ms 16
2.5 MHz
400 ns
26.21 ms
312.5 kHz
3.2 µs
209.7 ms 32
1.25 MHz
800 ns
52.43 ms
156.25 kHz
6.4 µs
419.4 ms 64
625.0 kHz
1.6 µs
104.9 ms
78.125 kHz
12.8 µs
838.9 ms 128
312.5 kHz
3.2 µs
209.7 ms
39.06 kHz
25.6 µs
1.678 s
256
156.25 kHz 6.4 µs
419.4 ms
19.53 kHz
51.2 µs
3.355 s
512
78.125 kHz 12.8 µs
838.9 ms
9.77 kHz
102.4 µs
6.711 s
1024
39.06 kHz
25.6 µs
1.678 s
4.88 kHz
204.8 µs
13.42 s
2048
19.53 kHz
51.2 µs
3.355 s
User’s Manual
GPT_X7, V2.0
14-52
Frequency Resolution Period
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
External Count Clock Input
The external input signals of the GPT2 block are sampled with the GPT2 basic clock (see
Figure 14-20). To ensure that a signal is recognized correctly, its current level (high or
low) must be held active for at least one complete sampling period, before changing. A
signal transition is recognized if two subsequent samples of the input signal represent
different levels. Therefore, a minimum of two basic clock periods are required for the
sampling of an external input signal. Thus, the maximum frequency of an input signal
must not be higher than half the basic clock.
Table 14-18 summarizes the resulting requirements for external GPT2 input signals.
Table 14-18 GPT2 External Input Signal Limits
System Clock = 10 MHz Input
Max. Input Min. Level Frequ.
Frequency Hold Time Factor
2.5 MHz
200 ns
1.25 MHz
400 ns
625.0 kHz
800 ns
312.5 kHz
1.6 µs
fGPT/4
fGPT/8
fGPT/16
fGPT/32
GPT2
Divider
BPS1
System Clock = 40 MHz
Input
Phase
Max. Input Min. Level
Duration Frequency Hold Time
01B
2 × tGPT
10.0 MHz
50 ns
00B
4 × tGPT
5.0 MHz
100 ns
11B
8 × tGPT
2.5 MHz
200 ns
10B
16 × tGPT
1.25 MHz
400 ns
These limitations are valid for all external input signals to GPT2, including the external
count signals in counter mode and the gate input signals in gated timer mode.
User’s Manual
GPT_X7, V2.0
14-53
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
14.2.7
GPT2 Timer Registers
GPT12E_Tx
Timer x Count Register
15
14
13
12
11
SFR (FE4xH/2yH)
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
Txvalue
rwh
Table 14-19 GPT1 Timer Register Locations
Timer Register
Physical Address
8-Bit Address
T5
FE46H
23H
T6
FE48H
24H
GPT12E_CAPREL
Capture/Reload Register
15
14
13
12
11
SFR (FE4AH/25H)
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
Capture/Reloadvalue
rwh
User’s Manual
GPT_X7, V2.0
14-54
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
14.2.8
Interrupt Control for GPT2 Timers and CAPREL
When a timer overflows from FFFFH to 0000H (when counting up), or when it underflows
from 0000H to FFFFH (when counting down), its interrupt request flag (T5IR or T6IR) in
register TxIC will be set. Whenever a transition according to the selection in bit field CI
is detected at pin CAPIN, interrupt request flag CRIR in register CRIC is set. Setting any
request flag will cause an interrupt to the respective timer or CAPREL interrupt vector
(T5INT, T6INT or CRINT) or trigger a PEC service, if the respective interrupt enable bit
(T5IE or T6IE in register TxIC, CRIE in register CRIC) is set. There is an interrupt control
register for each of the two timers and for the CAPREL register.
GPT12E_T5IC
Timer 5 Intr. Ctrl. Reg.
SFR (FF66H/B3H)
15
14
13
12
11
10
9
-
-
-
-
-
-
-
-
-
-
-
-
-
-
GPT12E_T6IC
Timer 6 Intr. Ctrl. Reg.
8
7
6
Reset Value: - - 00H
5
GPX T5IR T5IE
rw
rwh
4
3
14
13
12
11
10
9
-
-
-
-
-
-
-
-
-
-
-
-
-
-
GPT12E_CRIC
CAPREL Intr. Ctrl. Reg.
8
7
rw
rw
Reset Value: - - 00H
5
GPX T6IR T6IE
rw
rwh
4
3
14
13
12
11
10
9
-
-
-
-
-
-
-
-
-
-
-
-
-
-
8
7
GPX CRIR CRIE
rw
rwh
rw
1
0
GLVL
rw
rw
rw
6
2
ILVL
SFR (FF6AH/B5H)
15
0
GLVL
rw
6
1
ILVL
SFR (FF68H/B4H)
15
2
Reset Value: - - 00H
5
4
3
2
1
0
ILVL
GLVL
rw
rw
Note: Please refer to the general Interrupt Control Register description for an
explanation of the control fields.
User’s Manual
GPT_X7, V2.0
14-55
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The General Purpose Timer Units
14.3
Interfaces of the GPT Module
Besides the described intra-module connections, the timer unit blocks GPT1 and GPT2
are connected to their environment in two basic ways (see Figure 14-32):
•
•
Internal connections interface the timers with on-chip resources such as clock
generation unit, interrupt controller, or other timers.
External connections interface the timers with external resources via port pins.
System
Control
Unit
f GPT
T2EUD
GPTDIS
P5.15
T4EUD
P5.14
T2IN
T3IN
T4IN
T3IRQ
T4IRQ
T5IRQ
T6IRQ
General
Purpose
Timer
Units
CRIRQ
T3EUD
T3OUT
T5IN
T6IN
T5EUD
T6EUD
CAPCOM
Units
CAPIN
T6OUF
T6OUT
P3.6
Port Logic for P3 and P5
T2IRQ
Interrupt
Control
Unit
P3.7
P3.5
P3.4
P3.3
P5.13
P5.12
P5.11
P5.10
P3.2
P3.1
mc_gpt0105_modinterface_x.vsd
Figure 14-32 GPT Module Interfaces
Port pins to be used for timer input signals must be switched to input, the respective
direction control bits must be cleared (DPx.y = 0).
Port pins to be used for timer output signals must be switched to output, the respective
direction control bits must be set (DPx.y = 1). The alternate timer output signal must be
selected for these pins via the respective alternate select registers (see Chapter 7).
Interrupt nodes to be used for timer interrupt requests must be enabled and programmed
to a specific interrupt level.
User’s Manual
GPT_X7, V2.0
14-56
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Real Time Clock
15
Real Time Clock
The Real Time Clock (RTC) module of the XC167 basically consists of a chain of
prescalers and timers. Its count clock is derived from the auxiliary oscillator or from the
prescaled main oscillator. The RTC serves various purposes:
•
•
•
48-bit timer for long term measurements
System clock to determine the current time and date
(the RTC’s structure supports the direct representation of time and date)
Cyclic time based interrupt (can be generated by any timer of the chain)
A number of programming options as well as interrupt request signals adjust the
operation of the RTC to the application’s requirements. The RTC can continue its
operation while the XC167 is in a power-saving mode, such that real time date and time
information is provided.
C on trol R egisters
D ata R egisters
C ounter R e gisters
Inte rru pt C ontrol
R TC _ C O N
E
R TC _T 14R E L
E
R T C _T 14
E
R T C _IS N C
E
SYSCON0
E
R TC _R E LH
E
R T C _R T C H
E
R T C _IC
E
SYSCON3
E
R TC _R E LL
E
R T C _R T C L
E
R T C _C O N
SYSCON0
SYSCON3
R T C _IS N C
R T C _IC
R ea l T im e C lock C ontrol R egister
G eneral S yste m C ontrol R egister
P ow er M a nagem ent C ontrol R eg.
Interrupt S ubnode C ontrol R egister
R T C Interrupt C ontrol R egister
R T C _T 14
R T C _T 14R E L
R T C _R T C H /L
R T C _R E LH /L
T im er T 14 C ount R eg ister
T im er T 14 R eload R egister
R T C C ount R eg isters, H igh/Low
R T C R eload R eg., H igh/Low
m ca04463_xc .vs d
Figure 15-1 SFRs Associated with the RTC Module
The RTC module consists of a chain of 3 divider blocks:
•
•
•
a selectable 8:1 divider (on - off)
the reloadable 16-bit timer T14
the 32-bit RTC timer block (accessible via RTC_RTCH and RTC_RTCL), made of:
– the reloadable 10-bit timer CNT0
– the reloadable 6-bit timer CNT1
– the reloadable 6-bit timer CNT2
– the reloadable 10-bit timer CNT3
All timers count upwards. Each of the five timers can generate an interrupt request. All
requests are combined to a common node request.
Note: The RTC registers are not affected by a system reset in order to maintain the
correct system time even when intermediate resets are executed.
User’s Manual
RTC_X8, V2.1
15-1
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Real Time Clock
15.1
Defining the RTC Time Base
The timer chain of the RTC is clocked with the count clock signal fRTC which is derived
from the auxiliary oscillator or from the prescaled main oscillator (see Figure 15-2 and
Figure 15-3). Optionally prescaled by a factor of 8, this is the basic RTC clock.
Depending on the operating mode, timer T14 may provide the count increments used by
the application and thus determine the input frequency of the RTC timer, that is, the RTC
time base (see also Table 15-3).
The RTC is also supplied with the system clock fSYS of the XC167. This clock signal is
used to control the RTC’s logic blocks and its bus interface. To synchronize properly to
the count clock, the system clock must run at least four times faster than the count clock,
this means fSYS ≥ 4 × fCNT.
REFCLK
Aux.
OSC
fOSCa
fRTCa
fRTCm
MUX
RUN
fRTC
8:1
1
MUX
0
fCNT
>1
RTC
Count
Clock
PRE
Main fOSCm
OSC
fSYS
32:1
Async Mode
1
Sync Mode
0
Clock
Generation
Unit
RTC
Module
Clock
MUX
RTCCM
SYSCON0.14
MCB05413
Figure 15-2 RTC Clock Supply Block Diagram
For an example, Table 15-1 lists the interrupt period range and the T14 reload values
(for a time base of 1 s and 1 ms):
Table 15-1
RTC Time Base Examples
Oscillator
Frequency
T14 Intr. Period
Min.
32.768 kHz
30.52 µs 16.0 s
Max.
Reload Value A
Reload Value B
T14REL
Base
T14REL
Base
8000H/F000H
1.000 s
FFDFH/
FFFCH
1.007 ms/
0.977 ms
Note: Select one value from the reload value pairs, depending if the 8:1 prescaler is
disabled/enabled.
User’s Manual
RTC_X8, V2.1
15-2
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Real Time Clock
Asynchronous Operation
When the system clock frequency becomes lower than 4 × fCNT proper synchronization
is not possible and count events may be missed. When the XC167 enters e.g. sleep
mode the system clock stops completely and the RTC would stop counting.
In these cases the RTC can be switched to Asynchronous Mode (by setting bit RTCCM
in register SYSCON0). In this mode the count registers are directly controlled by the
count clock independent of the system clock (hence the name). Asynchronous operation
ensures correct time-keeping even during sleep mode or powerdown mode.
However, as no synchronization between the count registers and the bus interface can
be maintained in asynchronous mode, the RTC registers cannot be written. Read
accesses may interfere with count events and, therefore, must be verified (e.g. by
reading the same value with three consecutive read accesses).
Note: The access restrictions in asynchronous mode are only meaningful if the system
clock is not switched off, of course.
Switching Clocking Modes
The clocking mode of the RTC (synchronous or asynchronous) is selected via bit
RTCCM in register SYSCON0. After reset, the RTC operates in Synchronous Mode
(RTCCM = 0) with the 8:1 prescaler enabled.
The selected clocking mode also affects the access to RTC registers. Bit ACCPOS in
register RTC_CON indicates if full register access is possible (ACCPOS = 1, default
after reset) or not (ACCPOS = 0). This also indicates the current clocking mode.
Attention: Software should poll bit ACCPOS to determine the proper transition to
the intended clocking mode.
After switching to Asynchronous Mode (RTCCM = 1), bit ACCPOS = 0 indicates proper
operation in Asynchronous Mode. In this case the system clock can be stopped or
reduced.
After switching to Synchronous Mode, (RTCCM = 0), bit ACCPOS = 1 indicates proper
operation in Synchronous Mode. In this case the RTC registers can again be accessed
properly (read and write).
Note: The RTC might lose a counting event (edge of fCNT) when switching from
synchronous mode to asynchronous mode while the 8:1 prescaler is disabled. For
these applications it is, therefore, recommended to set up the RTC with the 8:1
prescaler enabled.
User’s Manual
RTC_X8, V2.1
15-3
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Real Time Clock
Increased RTC Accuracy through Software Correction
The accuracy of the XC167’s RTC is determined by the oscillator frequency and by the
respective prescaling factor (excluding or including T14 and the 8:1 prescaler). The
accuracy limit generated by the prescaler is due to the quantization of a binary counter
(where the average is zero), while the accuracy limit generated by the oscillator
frequency is due to the difference between the ideal and real frequencies (and therefore
accumulates over time). This effect is predictable and can be compensated. The total
accuracy of the RTC can be further increased via software for specific applications that
demand a high time accuracy.
The key to the improved accuracy is knowledge of the exact oscillator frequency. The
relation of this frequency to the expected ideal frequency is a measure of the RTC’s
deviation. The number of cycles, N, after which this deviation causes an error of ±1 cycle
can be easily computed. So, the only action is to correct the count by ±1 after each series
of N cycles. The correction may be made cyclically, for instance, within an interrupt
service routine, or by evaluating a formula when the RTC registers are read (for this the
respective “last” RTC value must be available somewhere).
Note: For the majority of applications, however, the standard accuracy provided by the
RTC’s structure will be more than sufficient.
Adjusting the current RTC value would require reading and then writing the complete
48-bit value. This can only be accomplished by three successive accesses each. To
avoid the hassle of reading/writing multi-word values, the RTC incorporates a correction
option to simply add or suppress one count pulse.
This is done by setting bit T14INC or T14DEC, respectively, in register RTC_CON. This
will add an extra count pulse (T14INC) upon the next count event, or suppress the next
count event (T14DEC). The respective bit remains set until its associated action has
been performed and is automatically cleared by hardware after this event.
Note: Setting both bits, T14INC and T14DEC, at the same time will have no effect on the
count values.
User’s Manual
RTC_X8, V2.1
15-4
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Real Time Clock
15.2
RTC Run Control
If the RTC shall operate bit RUN in register RTC_CON must be set (default after reset).
Bit RUN can be cleared, for example, to exclude certain operation phases from time
keeping. The RTC can be completely disabled by setting the corresponding bit RTCDIS
in register SYSCON3.
Note: A valid count clock is required for proper RTC operation, of course.
A reset for the RTC is triggered via software by setting bit RTCRST in register
SYSCON0. In this case all RTC registers are set to their initial values and bit RTCRST
is cleared automatically. A normal system reset does not affect the RTC registers and its
operation (RTC_IC will be reset, however). The initialization software must ensure the
proper RTC operating mode.
The RTC control register RTC_CON selects the basic operation of the RTC module.
RTC_CON
Control Register
ESFR (F110H/88H)
Reset Value: 8003H
15
14
13
12
11
10
9
8
7
6
5
ACC
POS
-
-
-
-
-
-
-
-
-
-
rh
-
-
-
-
-
-
-
-
-
-
4
3
2
1
0
REF T14 T14
PRE RUN
CLK INC DEC
rw
rwh
rwh
rw
rw
Field
Bits
Type
Description
ACCPOS
15
rh
RTC Register Access Possible
0
No write access is possible, only
asynchronous reads
1
Registers can be read and written
REFCLK
4
rw
Reference Clock Source
0
The RTC count clock is derived from the
auxiliary oscillator (fOSCa)
1
The RTC count clock is derived from the main
oscillator (fOSCm/32)
T14INC
3
rwh
Increment Timer T14 Value
Setting this bit to 1 adds one count pulse upon the
next count event, thus incrementing T14.
This bit is cleared by hardware after incrementation.
T14DEC
2
rwh
Decrement Timer T14 Value
Setting this bit to 1 suppresses the next count event,
thus decrementing T14.
This bit is cleared by hardware after decrementation.
User’s Manual
RTC_X8, V2.1
15-5
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Real Time Clock
Field
Bits
Type
Description
PRE
1
rw
RTC Input Source Prescaler Enable
0
Prescaler disabled, T14 clocked with fRTC
1
Prescaler enabled, T14 clocked with fRTC/8
RUN
0
rw
RTC Run Bit
0
RTC stopped
1
RTC runs
User’s Manual
RTC_X8, V2.1
15-6
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Real Time Clock
15.3
RTC Operating Modes
The RTC can be configured for several operating modes according to the purpose it is
meant to serve. These operating modes are configured by selecting appropriate reload
values and interrupt signals.
PRE
RUN
fRTC
1
MUX
0
8
R TC IN T
Interru pt S u b N od e
CNT
IN T 0
CNT
IN T 1
CNT
IN T2
CNT
IN T 3
R EL-R egister
fCNT
T14REL
1 0 B its
6 B its
6 B its
1 0 B its
T14
1 0 B its
6 B its
6 B its
1 0 B its
T14-R egister
C N T-R egister
m cb04805_x c.vsd
Figure 15-3 RTC Block Diagram
RTC Register Access
The actual value of the RTC is indicated by the three registers T14, RTCL, and RTCH.
As these registers are concatenated to build the RTC counter chain, internal overflows
occur while the RTC is running. When reading or writing the RTC value, such internal
overflows must be taken into account to avoid reading/writing corrupted values.
Care must be taken, when reading the timer(s), as this requires up to three read
accesses to the different registers with an inherent time delay between the accesses. An
overflow from T14 to RTCL and/or from RTCL to RTCH might occur between the
accesses, which needs to be taken into account appropriately.
For example, reading/writing 0000H to RTCH and then accessing RTCL could produce
a corrupted value as RTCL may overflow before it can be accessed. In this case, RTCH
would be 0001H. The same precautions must be taken for T14 and T14REL.
User’s Manual
RTC_X8, V2.1
15-7
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Real Time Clock
Timer T14 and its reload register are accessed via dedicated locations. The four RTC
counters CNT3 … CNT0 are accessed via the two 16-bit RTC timer registers, RTCH and
RTCL. The associated four reload values REL3 … REL0 are accessed via the two 16-bit
RTC reload registers, RELH and RELL.
Table 15-2
Register Locations for Timer T14
Register Name
Long/Short
Address
Reset
Value
Notes
RTC_T14
F0D2H/69H
0000H
16-bit timer, can be used as prescaler
for the RTC block
RTC_T14REL
F0D0H/68H
0000H
Timer T14 reload register
RTC_RTCH
RTC Timer High Register
15
14
13
12
11
ESFR (F0D6H/6BH)
10
14
13
12
7
6
5
4
3
2
CNT2
rwh
rwh
11
ESFR (F0D4H/6AH)
10
9
8
7
6
5
4
CNT0
rwh
rwh
Bits
Type
CNTx
(x = 3 … 0)
[15:6], rwh
[5:0],
[15:10],
[9:0]
1
0
Reset Value: 0000H
CNT1
Field
User’s Manual
RTC_X8, V2.1
8
CNT3
RTC_RTCL
RTC Timer Low Register
15
9
Reset Value: 0000H
3
2
1
0
Description
RTC Timer Count Section CNTx
An overflow of this bitfield triggers a count pulse to
the next count section CNTx+1 (except for CNT3)
followed by a reload of CNTx from bitfield RELx.
In addition, an interrupt request is triggered.
15-8
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Real Time Clock
RTC_RELH
RTC Reload High Register
15
14
13
12
11
ESFR (F0CEH/67H)
10
14
13
12
8
7
6
5
4
3
2
REL3
REL2
rw
rw
RTC_RELL
RTC Reload Low Register
15
9
Reset Value: 0000H
11
ESFR (F0CCH/66H)
10
9
8
7
6
5
4
REL0
rw
rw
Bits
Type
RELx
(x = 3 … 0)
[15:6], rw
[5:0],
[15:10],
[9:0],
0
Reset Value: 0000H
REL1
Field
1
3
2
1
0
Description
RTC Reload Value RELx
This bitfield is copied to bitfield CNTx upon an
overflow of count section CNTx.
Note: The registers of the RTC receive their reset values only upon a specific RTC reset.
This reset is not triggered upon a system reset, but via software.
User’s Manual
RTC_X8, V2.1
15-9
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Real Time Clock
15.3.1
48-bit Timer Operation
The concatenation of timers T14 and COUNT0 … COUNT3 can be regarded as a 48-bit
timer which is clocked with the RTC input frequency, optionally divided by the prescaler.
The reload registers T14REL, RELL, and RELH must be cleared to produce a true binary
48-bit timer. However, any other reload value may be used. Reload values other than
zero must be used carefully, due to the individual sections of the RTC timer with their
own individual overflows and reload values.
The maximum usable timespan is 248 (≈ 1014) T14 input clocks (assuming no prescaler),
which would equal more than 200 years at an oscillator frequency of 32 kHz.
15.3.2
System Clock Operation
A real time system clock can be maintained that keeps on running also during power
saving modes (optionally) and indicates the current time and date. This is possible
because the RTC module is not affected by a system reset1).
The resolution for this clock information is determined by the input clock of timer T14. By
selecting appropriate reload values each cascaded timer can represent directly a part of
the current time and/or date. Due to its width, T14 can adjust the RTC to the intended
range of operation (time or date). The maximum usable timespan is achieved when
T14REL is loaded with 0000H and so T14 divides by 216.
System Clock Example
The RTC count clock is fOSCa (8:1 prescaler off). By selecting appropriate reload values
the RTC timers directly indicate the current time (see Figure 15-4 and Table 15-3).
3E8H
04H
04H
018H
FFDFH
REL3
REL2
REL1
REL0
T14REL
fCNT =
CNT3
CNT2
CNT1
CNT0
T14
Hours
Minutes
Seconds
1/1000
Seconds
Prescaler
32.768 kHz
MCA05414
Figure 15-4 RTC Configuration Example
Note: This setup can generate an interrupt request every millisecond, every second,
every minute, every hour, or every day.
1) After a power on reset, however, the RTC registers are undefined.
User’s Manual
RTC_X8, V2.1
15-10
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Real Time Clock
Each timer in the chain divides the clock by (2<timer_width> - <reload_value>) : 1, as the
timers count up. Table 15-3 shows the reload values which must be chosen for a specific
scenario (i.e. operating mode of the RTC).
Day of the
Week
Time of Day
(Figure 15-4)
Table 15-3
Reload Value Scenarios
REL3
REL2
REL1
REL0
T14REL
Formula
210 - 24
26 - 60
26 - 60
210 - 1000
216 - 33
Rel. Value
3E8H
04H
04H
018H
FFDFH
Function
h
m
s
1/1000 s
Prescaler
Intr. Period
day
hour
minute
second
millisec.1)
Formula
210 - 7
26 - 24
26 - 60
210 - 60
216 - 32768
Rel. Value
3F9H
28H
04H
3C4H
8000H
Function
day
h
m
s
Prescaler
Intr. Period
week
day
hour
minute
second
1) T14 errors in the first example (ms) can be compensated either by choosing an adapted value for REL0, or by
using software correction.
15.3.3
Cyclic Interrupt Generation
The RTC module can generate an interrupt request whenever one of the timers
overflows and is reloaded. This interrupt request may be used, for example, to provide
a system time tick independent of the CPU frequency without loading the general
purpose timers, or to wake-up regularly from sleep mode. The interrupt cycle time can
be adjusted by choosing appropriate reload values and by enabling the appropriate
interrupt request.
In this mode, the other operating modes can be combined. For example, a reload value
of T14REL = F9C0H (216 - 1600) generates a T14 interrupt request every 50 ms to
wake-up the system regularly. Still the subsequent timers can be configured to represent
the time or build a binary counter, however with a different time base.
User’s Manual
RTC_X8, V2.1
15-11
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Real Time Clock
15.4
RTC Interrupt Generation
The overflow signals of each timer of the RTC timer chain can generate an interrupt
request. The RTC’s interrupt subnode control register ISNC combines these requests to
activate the common RTC interrupt request line RTC_IRQ.
Each timer overflow sets its associated request flag in register ISNC. Individual enable
bits for each request flag determine whether this request also activates the common
interrupt line. The enabled requests are ORed together on this line (see Figure 15-5).
The interrupt handler can determine the source of an interrupt request via the specific
request flags and must clear them after appropriate processing (not cleared by
hardware). The common node request bit is automatically cleared when the interrupt
handler is vectored to.
Note: If only one source is enabled, no additional software check is required, of course.
Both the individual request and the common interrupt node must be enabled.
Register RTC_ISNC
CNT3 Overflow
Set
SW Clear
CNT2 Overflow
Set
SW Clear
CNT1 Overflow
Set
SW Clear
CNT0 Overflow
Set
SW Clear
T14 Overflow
Set
SW Clear
CNT3
IR
CNT2
IR
CNT1
IR
CNT0
IR
T14
IR
&
CNT3
IE
&
CNT2
IE
&
CNT1
IE
_
>1
Interrupt Request
RTC_IRQ
&
CNT0
IE
&
T14
IE
MCB05415
Figure 15-5 Interrupt Block Diagram
User’s Manual
RTC_X8, V2.1
15-12
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Real Time Clock
RTC_ISNC
Interrupt Subnode Ctrl. Reg.
ESFR (F10CH/86H)
15
14
13
12
11
10
-
-
-
-
-
-
CNT CNT CNT CNT CNT CNT CNT CNT T14 T14
3IR 3IE 2IR 2IE 1IR 1IE 0IR 0IE IR
IE
-
-
-
-
-
-
rwh
Type
9
8
rw
7
rwh
6
Reset Value: 0000H
rw
5
rwh
4
3
rw
rwh
2
1
rw
0
rwh
rw
Field
Bits
Description
CNTxIR
(x = 3 … 0)
9, 7, 5, rwh
3
Section CNTx Interrupt Request Flag
0
No request pending
1
This source has raised an interrupt request
CNTxIE
(x = 3 … 0)
8, 6, 4, rw
2
Section CNTx Interrupt Enable Control Bit
0
Interrupt request is disabled
1
Interrupt request is enabled
T14IR
1
rwh
T14 Overflow Interrupt Request Flag
0
No request pending
1
This source has raised an interrupt request
T14IE
0
rw
T14 Overflow Interrupt Enable Control Bit
0
Interrupt request is disabled
1
Interrupt request is enabled
Note: The interrupt request flags in register ISNC must be cleared by software. They are
not cleared automatically when the service routine is entered.
RTC_IC
RTC Interrupt Ctrl. Reg.
ESFR (F1A0H/D0H)
15
14
13
12
11
10
9
8
-
-
-
-
-
-
-
GPX
-
-
-
-
-
-
-
rw
7
6
RTC RTC
IR
IE
rwh
rw
Reset Value: 0000H
5
4
3
2
1
0
ILVL
GLVL
rw
rw
Note: Please refer to the general Interrupt Control Register description for an
explanation of the control fields.
Register RTC_IC is not part of the RTC module and is reset with any system reset.
User’s Manual
RTC_X8, V2.1
15-13
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
16
The Analog/Digital Converter
The XC167 provides an Analog/Digital Converter with 8-bit or 10-bit resolution and a
sample & hold circuit on-chip. An input multiplexer selects between up to 16 analog input
channels (alternate functions of Port 5) either via software (fixed channel modes) or
automatically (auto scan modes).
To fulfill most requirements of embedded control applications the ADC supports the
following conversion modes:
•
•
•
•
•
•
Fixed Channel Single Conversion
produces just one result from the selected channel
Fixed Channel Continuous Conversion
repeatedly converts the selected channel
Auto Scan Single Conversion
produces one result from each of a selected group of channels
Auto Scan Continuous Conversion
repeatedly converts the selected group of channels
Wait for ADDAT Read Mode
start a conversion automatically when the previous result was read
Channel Injection Mode
start a conversion when a hardware trigger occurs,
can insert the conversion of a specific channel into a group conversion (auto scan)
A set of SFRs and port pins provide access to control functions and results of the ADC.
The enhanced-mode registers provide more detailed control functions for the ADC.
Data Registers
Control Registers
ADC_DAT
ADC_DAT2
E
Interrupt Control
System Registers
ADC_CON
ADC_CIC
P5
ADC_CON1
ADC_EIC
P5DIDIS
E
ADC_CTR0
ADC_CTR2
ADC_CTR2IN
Compatibility Mode:
ADC_CON
ADC Control Register
ADC_CON1 ADC Control Register 1
Enhanced Mode:
ADC_CTR0 ADC Control Register 0
ADC_CTR2 ADC Control Register 2
ADC_CTR2IN ADC Control Injection Register
SYSCON3
ADC_DAT
ADC_DAT2
ADC_CIC
ADC_EIC
P5
P5DIDIS
ADC Result Register
ADC Injection Result Register
ADC End-of-Conversion Intr. Reg.
ADC Conversion-Error Intr. Reg.
Port 5 Analog Input Port
(AN15...AN0)
Port 5 Digital Input Disable Reg.
mc_adc0102_registers_x7.vsd
Figure 16-1 SFRs and Port Pins Associated with the A/D Converter
User’s Manual
ADC_X7, V2.1
16-1
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
The external analog reference voltages VAREF and VAGND are fixed. The separate supply
for the ADC reduces the interference with other digital signals. The reference voltages
must be stable during the reset calibration phase and during an entire conversion, to
achieve a maximum of accuracy.
The sample time as well as the conversion time is programmable, so the ADC can be
adjusted to the internal resistances of the analog sources and/or the analog reference
voltage supply (you may also want to refer to application note AP2428).
CTR0
CTR2
CTR2IN
MUX
CON
CON1
Injection
Requests
AN0
ADC_CIRQ
ADC_EIRQ
Conversion Control
MUX
Sample
&
Hold
8/10-bit
Capacitive Network
Conversion
DAT
DAT2
AN15
MCB05416_X7
Figure 16-2 Analog/Digital Converter Block Diagram
The ADC is implemented as a capacitive network using successive approximation
conversion. A conversion consists of 3 phases.
•
•
•
During the sample phase, the capacitive network is connected to the selected analog
input and is charged or discharged to the voltage of the analog signal.
During the actual conversion phase, the network is disconnected from the analog
input and is repeatedly charged or discharged via VAREF during the steps of
successive approximation.
After the (optional) post-calibration phase (to adjust the network to changing
conditions such as temperature) the result is written to the result register and an
interrupt request is generated.
There are two sets of control, data, and status registers, one set for compatibility mode
and one set for enhanced mode. Only one of these register sets may be active at a given
time. As most of the bits and bitfields of the registers of the two sets control the same
functionality or control the functionality in a very similar way, the following description is
organized according to the functionality, not according to the two register sets.
User’s Manual
ADC_X7, V2.1
16-2
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
16.1
Mode Selection
The analog input channels AN15 … AN0 are alternate functions of Port 5 which is an
input-only port. The Port 5 lines may either be used as analog or digital inputs. For pins
that shall be used as analog inputs it is recommended to disable the digital input stage
via register P5DIDIS. This avoids undesired cross currents and switching noise while the
(analog) input signal level is between VIL and VIH.
The functions of the A/D converter are controlled by two sets of bit-addressable control
registers. In compatibility mode, registers ADC_CON and ADC_CON1 are used, in
enhanced mode, registers ADC_CTR0, ADC_CTR2, and ADC_CTR2IN are used. Their
bitfields specify the analog channel to be acted upon, the conversion mode, and also
reflect the status of the converter.
16.1.1
Compatibility Mode
In compatibility mode (MD = 0), registers ADC_CON and ADC_CON1 select the basic
functions. The register layout is compatible with previous versions of the ADC module,
while providing limited options.
ADC_CON
ADC Control Register
15
14
13
12
ADCTC
ADSTC
rw
rw
SFR (FFA0H/D0H)
11
10
AD AD
CRQ CIN
rwh
rw
8
7
AD AD AD
WR BSY ST
rw
rwh
rwh
6
5
4
3
2
1
-
ADM
ADCH
-
rw
rw
0
Field
Bits
ADCTC
[15:14] rw
ADC Conversion Time Control (Defines the ADC
basic conversion clock fBC)
00
fBC = fADC/4
01
fBC = fADC/2
10
fBC = fADC/16
11
fBC = fADC/8
ADSTC
[13:12] rw
ADC Sample Time Control (Defines the ADC
sample time in a certain range)
00
tBC × 8
01
tBC × 16
10
tBC × 32
11
tBC × 64
ADCRQ
11
rwh
ADC Channel Injection Request Flag
ADCIN
10
rw
ADC Channel Injection Enable
User’s Manual
ADC_X7, V2.1
Type
9
Reset Value: 0000H
Function
16-3
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
Field
Bits
Type
Function
ADWR
9
rw
ADC Wait for Read Control
ADBSY
8
rh
ADC Busy Flag
0
ADC is idle
1
A conversion is active
ADST
7
rwh
ADC Start Bit
0
Stop a running conversion
1
Start conversion(s)
ADM
[5:4]
rw
ADC Mode Selection
00
Fixed Channel Single Conversion
01
Fixed Channel Continuous Conversion
10
Auto Scan Single Conversion
11
Auto Scan Continuous Conversion
ADCH
[3:0]
rw
ADC Analog Channel Input Selection
Selects the (first) ADC channel which is to be
converted.
ADC_CON1
ADC Control Register 1
15
ICST
rw
14
13
12
SFR (FFA6H/D3H)
11
10
SAM
CAL RES
PLE
rh
rh
rw
9
8
7
6
Reset Value: 0000H
5
4
3
2
ADCTC
ADSTC
rw
rw
1
0
Field
Bits
Type
Description
ICST
15
rw
Improved Conversion and Sample Timing
Selects the active timing control bitfields
0
Standard conversion and sample time control,
2-bit fields in ADC_CON (default after reset)
1
Improved conversion and sample time control,
6-bit fields in ADC_CON1
SAMPLE
14
rh
Sample Phase Status Flag
0
A/D Converter is not in sampling
1
A/D Converter is currently in the sample phase
CAL
13
rh
Reset Calibration Phase Status Flag
0
A/D Converter is not in calibration phase
1
A/D Converter is in calibration phase
User’s Manual
ADC_X7, V2.1
16-4
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
Field
Bits
Type
Description
RES
12
rw
Conversion Resolution Control
0
10-bit resolution (default after reset)
1
8-bit resolution
ADCTC
[11:6]
rw
ADC Conversion Time Control
Defines the ADC basic conversion clock:
fBC = fADC / (<ADCTC> + 1)
ADSTC
[5:0]
rw
ADC Sample Time Control
Defines the ADC sample time:
tS = tBC × 4 × (<ADSTC> + 1)
Note: The limit values for fBC (see data sheet) must not be exceeded when selecting
ADCTC and fADC.
16.1.2
Enhanced Mode
In enhanced mode (MD = 1), registers ADC_CTR0, ADC_CTR2, and ADC_CTR2IN
select the basic functions. The register layout differs from the compatibility-mode layout,
but this mode provides more options.
Conversion timing is selected via registers ADC_CTR2(IN), where ADC_CTR2 controls
standard conversions and ADC_CTR2IN controls injected conversions.
ADC_CTR0
ADC Control Register 0
15
14
13
12
MD
SAM
PLE
ADCTS
rw
rh
rw
SFR (FFBEH/DFH)
11
10
AD AD
CRQ CIN
rwh
rw
9
8
7
AD AD AD
WR BSY ST
rw
rh
rwh
Reset Value: 1000H
6
5
4
3
2
1
ADM
CAL
OFF
ADCH
rw
rw
rw
Field
Bits
Type
Description
MD
15
rw
Mode Control
0
Compatibility Mode
1
Enhanced Mode
0
Note: Any modification of control bit MD is forbidden
while a conversion is currently running. User
software must take care.
SAMPLE
User’s Manual
ADC_X7, V2.1
14
rh
Sample Phase Status Flag
0
A/D Converter is not in sample phase
1
A/D Converter in sample phase
16-5
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
Field
Bits
Type
ADCTS
[13:12] rw
Description
Channel Injection Trigger Input Select
00
Channel injection trigger input disabled
01
Trigger input CAPCOM2 selected
10
Trigger input CAPCOM6 selected
11
Reserved
Note: Reset value of bitfield ADCTS is 01B for
compatibility purposes.
ADCRQ
11
rwh
Channel Injection Request Flag
ADCIN
10
rw
Channel Injection Enable Control
ADWR
9
rw
Wait for Read Control
ADBSY
8
rh
Busy Flag
0
ADC is idle
1
A conversion is active
ADST
7
rwh
ADC Start/Stop Control
0
Stop a running conversion
1
Start conversion(s)
ADM
[6:5]
rw
Mode Selection Control
00
Fixed Channel Single Conversion
01
Fixed Channel Continuous Conversion
10
Auto Scan Single Conversion
11
Auto Scan Continuous Conversion
CALOFF
4
rw
Calibration Disable Control
0
Calibration cycles are executed
1
Calibration is disabled (off)
Note: This control bit is active in both compatibility
and enhanced mode.
ADCH
User’s Manual
ADC_X7, V2.1
[3:0]
rw
Analog Input Channel Selection
Selects the (first) ADC channel which is to be
converted
16-6
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
ADC_CTR2
ADC Control Register 2
15
14
13
12
ESFR (F09CH/4EH)
11
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
-
RES
ADCTC
ADSTC
-
rw
rw
rw
ADC_CTR2IN
Injection Control Register 2
15
14
13
12
11
10
ESFR (F09EH/4FH)
9
8
7
6
0
Reset Value: 0000H
5
4
3
2
-
RES
ADCTC
ADSTC
r
rw
rw
rw
Type
1
1
Field
Bits
RES
[13:12] rw
Converter Resolution Control
00
10-bit resolution (default after reset)
01
8-bit resolution
1x
Reserved
ADCTC
[11:6]
rw
ADC Conversion Time Control
Defines the ADC basic conversion clock:
fBC = fADC / (<ADCTC> + 1)
ADSTC
[5:0]
rw
ADC Sample Time Control
Defines the ADC sample time:
tS = tBC × 4 × (<ADSTC> + 1)
0
Description
Note: The limit values for fBC (see data sheet) must not be exceeded when selecting
ADCTC and fADC.
User’s Manual
ADC_X7, V2.1
16-7
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
16.2
ADC Operation
Channel Selection, ADCH
Bitfield ADCH controls the input channel multiplexer logic. In the Single Channel Modes,
it specifies the analog input channel which is to be converted. In the Auto Scan Modes,
it specifies the highest channel number to be converted in the auto scan round.
ADCH may be changed while a conversion is in progress. The new value will go into
effect after the current conversion is finished in the fixed channel modes, or after the
current conversion round is finished in the auto scan modes.
ADC Flags, ADBSY, SAMPLE
The ADC Busy Status Flag is set when the ADC is started (by setting ADST) and remains
set as long as the ADC performs conversions or calibration cycles.
ADBSY is cleared when the ADC is idle, meaning there are no conversion or calibration
operations in progress.
Bit SAMPLE is set during the sample phase.
ADC Start/Stop Control, ADST
Bit ADST is used to start or to stop the ADC. A single conversion or a conversion
sequence is started by setting bit ADST.
The busy flag ADBSY will be set and the converter then selects and samples the input
channel, which is specified by the channel selection field ADCH. The sampled level will
then be held internally during the conversion. When the conversion of this channel is
complete, the result together with the number of the converted channel is transferred into
the result register and the interrupt request is generated. The conversion result is placed
into bitfield ADRES.
ADST remains set until cleared either by hardware or by software. Hardware clears the
bit dependent on the conversion mode:
•
•
In Fixed Channel Single Conversion mode, ADST is cleared after the conversion of
the specified channel is finished.
In Auto Scan Single Conversion mode, ADST is cleared after the conversion of
channel 0 is finished.
Note: In the continuous conversion modes, ADST is never cleared by hardware.
Stopping the ADC via software is performed by clearing bit ADST. The reaction of the
ADC depends on the conversion mode:
•
•
In Fixed Channel Single Conversion mode, the ADC finishes the conversion and then
stops. There is no difference to the operation if ADST was not cleared by software.
In Fixed Channel Continuous Conversion mode, the ADC finishes the current
conversion and then stops. This is the usual way to terminate this conversion mode.
User’s Manual
ADC_X7, V2.1
16-8
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
•
•
In Auto Scan Single Conversion mode, the ADC continues the auto scan round until
the conversion of channel 0 is finished, then it stops. There is no difference to the
operation if ADST was not cleared by software.
In Auto Scan Continuous Conversion mode, the ADC continues the auto scan round
until the conversion of channel 0 is finished, then it stops. This is the usual way to
terminate this conversion mode.
A restart of the ADC can be performed by clearing and then setting bit ADST. This
sequence will abort the current conversion and restart the ADC with the new parameters
given in the control registers.
Conversion Mode Selection, ADM
Bitfield ADM selects the conversion mode of the A/D converter, as listed in Table 16-1.
Table 16-1
A/D Converter Conversion Mode
ADM
Description
00
Fixed Channel Single Conversion
01
Fixed Channel Continuous Conversion
10
Auto Scan Single Conversion
11
Auto Scan Continuous Conversion
While a conversion is in progress, the mode selection field ADM and the channel
selection field ADCH may be changed. ADM will be evaluated after the current
conversion. ADCH will be evaluated after the current conversion (fixed channel modes)
or after the current conversion sequence (auto scan modes).
Conversion Resolution Control, RES
The ADC can produce either a 10-bit result (RES = 0) or an 8-bit result (RES = 1).
Depending on the application’s needs a higher conversion speed (an 8-bit conversion
requires less conversion time) or a higher resolution can be chosen.
User’s Manual
ADC_X7, V2.1
16-9
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
Conversion Result
The result of a conversion is stored in the result register ADC_DAT, or in register
ADC_DAT2 for an injected conversion.
The position of the result depends on the basic operating mode (compatibility or
enhanced) and on the selected resolution (8-bit or 10-bit).
Note: Bitfield CHNR of register ADC_DAT is loaded by the ADC to indicate, which
channel the result refers to. Bitfield CHNR of register ADC_DAT2 is loaded by the
CPU to select the analog channel, which is to be injected.
ADC_DAT
ADC Result Register
15
14
13
12
SFR (FEA0H/50H)
11
10
8
7
6
5
CHNR
ADRES
rwh
rwh
ADC_DAT2
ADC Chan. Inj. Result Reg.
15
9
Reset Value: 0000H
14
13
12
11
4
ESFR (F0A0H/50H)
10
9
8
7
6
2
1
0
Reset Value: 0000H
5
CHNR
ADRES
rw
rwh
Type
3
4
3
2
1
0
Field
Bits
CHNR
[15:12] rw[h]
Channel Number (identifies the converted analog
channel)
ADRES
[11:0]
A/D Conversion Result
The digital result of the most recent conversion.
In compatibility mode, the result is placed as follows:
8-bit: ADRES[9:2]
10-bit: ADRES[9:0]
In enhanced mode, the result is placed as follows:
8-bit: ADRES[11:4]
10-bit: ADRES[11:2]
rwh
Function
Note: Unused bits of ADRES are always set to 0.
User’s Manual
ADC_X7, V2.1
16-10
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
16.2.1
Fixed Channel Conversion Modes
These modes are selected by
(single conversion) or to 01B
through bit ADST the busy flag
ADCH will be converted. After
ADCIR will be set.
programming the mode selection bitfield ADM to 00B
(continuous conversion). After starting the converter
ADBSY will be set and the channel specified in bitfield
the conversion is complete, the interrupt request flag
In Single Conversion Mode the converter will automatically stop and reset bits ADBSY
and ADST.
In Continuous Conversion Mode the converter will automatically start a new
conversion of the channel specified in ADCH. ADCIR will be set after each completed
conversion.
When bit ADST is reset by software, while a conversion is in progress, the converter will
complete the current conversion and then stop and reset bit ADBSY.
User’s Manual
ADC_X7, V2.1
16-11
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
16.2.2
Auto Scan Conversion Modes
These modes are selected by programming the mode selection field ADM to 10B (single
conversion) or to 11B (continuous conversion). Auto Scan modes automatically convert
a sequence of analog channels, beginning with the channel specified in bitfield ADCH
and ending with channel 0, without requiring software to change the channel number.
After starting the converter through bit ADST, the busy flag ADBSY will be set and the
channel specified in bitfield ADCH will be converted. After the conversion is complete,
the interrupt request flag ADCIR will be set and the converter will automatically start a
new conversion of the next lower channel. ADCIR will be set after each completed
conversion. After conversion of channel 0 the current sequence is complete.
In Single Conversion Mode the converter will automatically stop and reset bits ADBSY
and ADST.
In Continuous Conversion Mode the converter will automatically start a new sequence
beginning with the conversion of the channel specified in ADCH.
When bit ADST is reset by software, while a conversion is in progress, the converter will
complete the current sequence (including conversion of channel 0) and then stop and
reset bit ADBSY.
#3
Conversion
of Channel..
Write ADC_DAT
ADC_DAT Full
Generate Interrupt
Request
Read of ADC_DAT;
Result of Channel:
#x
#x
#2
#3
#1
#0
#2
#1
#2
#3
#3
#0
ADC_DAT Full;
Channnel 0
# 1 Result Lost
#2
#3
#3
Overrun Error
Interrupt Request
MC_ADC0001_AUTOSCAN
Figure 16-3 Auto Scan Conversion Mode Example
User’s Manual
ADC_X7, V2.1
16-12
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
16.2.3
Wait for Read Mode
If in default mode of the ADC a previous conversion result has not been read out of the
result register by the time a new conversion is complete, the previous result is lost
because it is overwritten by the new value, and the A/D overrun error interrupt request
flag ADEIR will be set.
In order to avoid error interrupts and the loss of conversion results especially when using
continuous conversion modes, the ADC can be switched to “Wait for Read Mode” by
setting bit ADWR.
If the result value has not been read by the time the current conversion is complete, the
new result is stored in a temporary buffer and the next conversion is suspended (ADST
and ADBSY will remain set in the meantime, but no end-of-conversion interrupt will be
generated). After reading the previous value the temporary buffer is copied into
ADC_DAT (generating an ADCIR interrupt) and the suspended conversion is started.
This mechanism applies to both single and continuous conversion modes.
Note: While in standard mode continuous conversions are executed at a fixed rate
(determined by the conversion time), in “Wait for Read Mode” there may be delays
due to suspended conversions. However, this only affects the conversions, if the
CPU (or PEC) cannot keep track with the conversion rate.
#3
#2
#1
wait
#0
#3
Conversion
of Channel..
Write ADC_DAT
ADC_DAT Full
Temp-Latch Full
#x
#3
#2
#0
#3
1
Generate Interrupt
Request
Read of ADC_DAT;
Result of Channel:
#1
Hold Result in
Temp-Latch
#x
#3
#2
#1
#0
MC_ADC0002_WAITREAD
Figure 16-4 Wait for Read Mode Example
User’s Manual
ADC_X7, V2.1
16-13
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
16.2.4
Channel Injection Mode
Channel Injection Mode allows the conversion of a specific analog channel (also while
the ADC is running in a continuous or auto scan mode) without changing the current
operating mode. After the conversion of this specific channel the ADC continues with the
original operating mode.
Channel Injection mode is enabled by setting bit ADCIN and requires the Wait for Read
Mode (ADWR = 1). The channel to be converted in this mode is specified in bitfield
CHNR of register ADC_DAT2.
Note: Bitfield CHNR in ADC_DAT2 is not modified by the A/D converter, but only the
ADRES bitfield. Since the channel number for an injected conversion is not
buffered, bitfield CHNR of ADC_DAT2 must never be modified during the sample
phase of an injected conversion, otherwise the input multiplexer will switch to the
new channel. It is recommended to only change the channel number with no
injected conversion running.
#x
# x-1
Conversion
of Channel..
Write ADC_DAT; # x+1
ADC_DAT Full
Read ADC_DAT
Injected
Conversion
of Channel # y
#x
# x+1
# x-2
# x-1
# x-2
#x
# x-4
# x-3
# x-1
# x-3
# x-2
# ...
# x-4
# x-3
# x-4
#y
Channel Injection
Request
Write ADC_DAT2
ADC_DAT2 Full
Int. Request
ADEINT
Read ADC_DAT2
MC_ADC0003_INJECT
Figure 16-5 Channel Injection Example
User’s Manual
ADC_X7, V2.1
16-14
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
A Channel Injection can be Triggered in Three Ways:
•
•
•
setting of the Channel Injection Request bit ADCRQ via software
a compare or a capture event of Capture/Compare register CC31 of the CAPCOM2
unit, which also sets bit ADCRQ
a period-match of timer T13 of the CAPCOM6 unit, which also sets bit ADCRQ.
The second method triggers a channel injection at a specific time, on the occurrence of
a predefined count value of the CAPCOM2 timers, stored in register CC31.
Note: The channel injection request bit ADCRQ will be set on any selected injection
trigger (interrupt request of CAPCOM2 channel CC31 or period match of
CAPCOM6 timer T13), regardless whether the channel injection mode is enabled
or not. It is recommended to always clear bit ADCRQ before enabling the channel
injection mode.
After the completion of the current conversion (if any is in progress) the converter will
start (inject) the conversion of the specified channel. When the conversion of this
channel is complete, the result will be placed into the alternate result register
ADC_DAT2, and a Channel Injection Complete Interrupt request will be generated,
which uses the interrupt request flag ADEIR (for this reason the Wait for Read Mode is
required).
Note: The result of an injected conversion is directly written to ADC_DAT2. If the
previous result has not been read in the meantime, it is overwritten.
Standard conversions are suspended if the temporary buffer is full.
User’s Manual
ADC_X7, V2.1
16-15
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
Arbitration of Conversions
Conversion requests that are activated while the ADC is idle immediately trigger the
respective conversion. If a conversion is requested while another conversion is currently
in progress the operation of the A/D converter depends on the kind of the involved
conversions (standard or injected).
Note: A conversion request is activated if the respective control bit (ADST or ADCRQ)
is toggled from 0 to 1, i.e. the bit must have been zero before being set.
Table 16-2 summarizes the ADC operation in the possible situations.
Table 16-2
Conversion
in Progress
Conversion Arbitration
New Requested Conversion
Standard
Injected
Standard
Abort running conversion,
and start requested new
conversion.1)
Complete running conversion,
start requested conversion after that.
Injected
Complete running conversion,
start requested conversion after
that.
Complete running conversion,
start requested conversion after that.
Bit ADCRQ will be 0 for the second
conversion, however.
1) If an injected conversion is pending when a standard conversion is re-started, the injected conversion is
executed before the newly started standard conversion.
User’s Manual
ADC_X7, V2.1
16-16
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
16.3
Automatic Calibration
The ADC of the XC167 features automatic self-calibration. This calibration corrects gain
errors, which are mainly due to process variation, and offset errors, which are mainly due
to temperature changes.
Two types of calibration are supported:
•
•
Reset calibration performs a thorough basic calibration of the ADC after a reset. In
particular this is required after a power-on reset.
Post-calibration performs one small calibration step after each conversion.
Reset Calibration
After a reset, a thorough power-up calibration is performed automatically to correct gain
and offset errors of the A/D converter. To achieve best calibration results, the reference
voltages as well as the supply voltages must be stable during the power-up calibration.
During the calibration sequence a series of calibration cycles is executed, where the step
width for adjustments is reduced gradually. The total number of executed calibration
cycles depends on the actual properties of the respective ADC module. The maximum
duration of the power-up calibration is 11,696 cycles of the basic clock fBC.
Status flag CAL is set as long as this power-up calibration takes place.
Note: The reset calibration must be completed (CAL = 0) before entering Sleep mode,
Idle mode, or Powerdown mode. Otherwise, the analog comparator remains
active and draws its supply current, which is undesired during power-save
conditions.
Post-Calibration
After each conversion a small calibration step can be executed. For 8-bit and 10-bit
conversions post-calibration is not mandatory in order not to exceed the total unadjusted
error (TUE) specified in the data sheet. Post-calibration can be disabled by setting bit
CALOFF in register ADC_CTR0. When disabled, the post-calibration cycles are skipped
which reduces the total conversion time.
Note: Calibration may be disabled only after the reset calibration is complete.
User’s Manual
ADC_X7, V2.1
16-17
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
16.4
Conversion Timing Control
When a conversion is started, first the capacitances of the converter are loaded via the
respective analog input pin to the current analog input voltage. The time to load the
capacitances is referred to as sample time. Next the sampled voltage is converted to a
digital value in successive steps, which correspond to the resolution of the ADC. During
these phases (except for the sample time) the internal capacitances are repeatedly
charged and discharged via pins VAREF and VAGND.
The current that has to be drawn from the sources for sampling and changing charges
depends on the time that each respective step takes, because the capacitors must reach
their final voltage level within the given time, at least with a certain approximation. The
maximum current, however, that a source can deliver, depends on its internal resistance.
The time that the two different actions during conversion take (sampling, and converting)
can be programmed within a certain range in the XC167 relative to the CPU clock. The
absolute time that is consumed by the different conversion steps therefore is
independent from the general speed of the controller. This allows adjusting the A/D
converter of the XC167 to the properties of the system:
Fast Conversion can be achieved by programming the respective times to their
absolute possible minimum. This is preferable for scanning high frequency signals. The
internal resistance of analog source and analog supply must be sufficiently low,
however.
High Internal Resistance can be achieved by programming the respective times to a
higher value, or the possible maximum. This is preferable when using analog sources
and supply with a high internal resistance in order to keep the current as low as possible.
The conversion rate in this case may be considerably lower, however.
Control Bitfields
For the timing control of the conversion and the sample phase two mechanisms are
provided:
•
•
Standard timing control uses two 2-bit fields in register ADC_CON to select
prescaler values for the general conversion timing and the duration of the sample
phase. This provides compact control, while limiting the prescaler factors to a few
steps.
Improved timing control uses two 6-bit fields in register ADC_CON1 (compatibility
mode) or register ADC_CTR2/ADC_CTR2IN (enhanced mode). This provides a wide
range of prescaler factors, so the ADC can be better adjusted to the internal and
external system circumstances.
Improved timing control is selected by setting bit ICST in register ADC_CON1 in
compatibility mode, or by selecting enhanced mode.
User’s Manual
ADC_X7, V2.1
16-18
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
Standard Timing Control
Standard timing control is performed by using two 2-bit fields in register ADC_CON.
Bitfield ADCTC (conversion time control) selects the basic conversion clock (fBC), used
for the operation of the A/D converter. The sample time is derived from this conversion
clock and controlled by bitfield ADSTC. The sample time is always a multiple of 8 fBC
periods. Table 16-3 lists the possible combinations.
Table 16-3
Standard Conversion and Sample Timing Control
ADC_CON.15|14
(ADCTC)
A/D Converter
Basic Clock fBC1)
ADC_CON.13|12
(ADSTC)
Sample Time tS
00
fADC/4
fADC/2
fADC/16
fADC/8
00
tBC × 8
tBC × 16
tBC × 32
tBC × 64
01
10
11
01
10
11
Improved Timing Control
To provide a finer resolution for programming of the timing parameters, wider bitfields
have been implemented for timing control (the 2-bit bitfields in register ADC_CON are
disregarded in all cases).
In compatibility mode (with bit ICST = 1), the bitfields in register ADC_CON1 are used
for all conversions.
In enhanced mode (bit MD = 1), the bitfields in register ADC_CTR2 are used for
standard conversions. Injected conversions use the bitfields in register ADC_CTR2IN.
Bitfield ADCTC (conversion time control) selects the basic conversion clock (fBC), used
for the operation of the A/D converter. The sample time is derived from this conversion
clock and controlled by bitfield ADSTC. The sample time is always a multiple of 4 fBC
periods. Table 16-4 lists the possible combinations.
Table 16-4
Improved Conversion and Sample Timing Control
ADCTC
A/D Converter
Basic Clock fBC1)
ADSTC
Sample Time tS
00’0000B = 00H
fADC/1
fADC/2
fADC/3
fADC/(ADCTC + 1)
fADC/64
00’0000B = 00H
tBC × 8
tBC × 12
tBC × 16
tBC × 4 × (ADSTC + 2)
tBC × 260
00’0001B = 01H
00’0010B = 02H
…
11’1111B = 3FH
00’0001B = 01H
00’0010B = 02H
…
11’1111B = 3FH
1) The limit values for fBC (see data sheet) must not be exceeded when selecting ADCTC and fADC.
User’s Manual
ADC_X7, V2.1
16-19
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
Total Conversion Time Examples
The time for a complete conversion includes the sample time tS, the conversion itself
(successive approximation and calibration), and the time required to transfer the digital
value to the result register as shown in the example below (standard conversion timing).
The timings refer to module clock cycles, where tADC = 1/fADC.
•
•
•
Assumptions: fADC = 40 MHz (i.e. tADC = 25 ns), ADCTC = 01B, ADSTC = 00B
Basic clock: fBC = fADC/2 = 20 MHz, i.e. tBC = 50 ns
Sample time: tS = tBC × 8 = 400 ns
Conversion 10-bit:
•
•
With post-calibr.: tC10P = tS + 52 × tBC + 6 × tADC = (2600 + 400 + 150) ns = 3.15 µs
Post-calibr. off: tC10 = tS + 40 × tBC + 6 × tADC = (2000 + 400 + 150) ns = 2.55 µs
Conversion 8-bit:
•
•
With post-calibr.: tC8P = tS + 44 × tBC + 6 × tADC = (2200 + 400 + 150) ns = 2.75 µs
Post-calibr. off: tC8 = tS + 32 × tBC + 6 × tADC = (1600 + 400 + 150) ns = 2.15 µs
Note: For the exact specification please refer to the data sheet of the selected derivative.
User’s Manual
ADC_X7, V2.1
16-20
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
16.5
A/D Converter Interrupt Control
At the end of each conversion, interrupt request flag ADCIR in interrupt control register
ADC_CIC is set. This end-of-conversion interrupt request may cause an interrupt to
vector ADCINT, or it may trigger a PEC data transfer which reads the conversion result
from register ADC_DAT, e.g. to store it into a table in internal RAM for later evaluation.
The interrupt request flag ADEIR in register ADC_EIC will be set either, if a conversion
result overwrites a previous value in register ADC_DAT (error interrupt in standard
mode), or if the result of an injected conversion has been stored into ADC_DAT2 (endof-injected-conversion interrupt). This interrupt request may be used to cause an
interrupt to vector ADEINT, or it may trigger a PEC data transfer.
ADC_CIC
ADC Conversion Intr. Ctrl. Reg. SFR (FF98H/CCH)
15
14
13
12
11
10
9
-
-
-
-
GPX
-
-
ADC_EIC
ADC Error Intr. Ctrl. Reg.
15
14
13
12
11
-
-
-
-
rw
10
9
8
GPX
-
7
6
5
ADC ADC
IR
IE
rwh
4
3
-
-
rw
7
ADE ADE
IR
IE
rwh
rw
1
0
GLVL
rw
rw
rw
6
2
ILVL
SFR (FF9AH/CDH)
-
8
Reset Value: - - 00H
Reset Value: - - 00H
5
4
3
2
1
0
ILVL
GLVL
rw
rw
Note: Please refer to the general Interrupt Control Register description for an
explanation of the control fields.
User’s Manual
ADC_X7, V2.1
16-21
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
16.6
Interfaces of the ADC Module
The ADC is connected to its environment in different ways.
Internal Connections
The capture/compare signal CC31IO of the CAPCOM2 unit and the timer T13 period
match signal of the CAPCOM6 unit are connected to the ADC, providing optional trigger
sources for injected conversions.
The 2 interrupt request lines of the ADC are connected to the interrupt control block.
External Connections
The analog input signals for the ADC are connected with Port 5 of the XC167 (input
only). Two dedicated pins (VAREF and VAGND) provide the analog reference voltage for the
conversion mechanism.
User’s Manual
ADC_X7, V2.1
16-22
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
The Analog/Digital Converter
System
Control
Unit (SCU)
fADC
P5.0/AN0
ADCDIS
P5.1/AN1
P5.2/AN2
Interrupt
Control
Block
P5.3/AN3
ADC_CIRQ
P5.4/AN4
ADC_EIRQ
P5.5/AN5
P5.6/AN6
ADC
Module
CAPCOM2
Unit
Port P5
Control
CC31_CIT
P5.7/AN7
P5.8
P5.9
P5.10/AN10
CAPCOM6
Unit
P5.11/AN11
T13_PM
P5.12/AN12
P5.13/AN13
VAREF
P5.14/AN14
VGND
P5.15/AN15
GPT External Inputs
MCA05417_X7
Figure 16-6 ADC Module IO Interface
User’s Manual
ADC_X7, V2.1
16-23
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
17
Capture/Compare Units
The XC167 provides two, almost identical, Capture/Compare (CAPCOM) units, which
only differ in the way they are connected to the pins. Each CAPCOM unit provides
16 capture/compare channels, which interact with 2 timers. A CAPCOM channel can
capture the contents of a timer on specific internal or external events, or it can compare
a timer’s contents with given values, and modify output signals in case of a match.
Data Registers
Control Registers
T0, T0REL
T01CON
T1, T1REL
T7, T7REL
E
T8, T8REL
E
Port Registers
Interrupt Control
T78CON
T0IC
P6, DP6
T1IC
ODP6
E
T7IC
ALTSEL0P6
E
T8IC
P7, DP7
CC0-CC3
CC1_M0
CC0IC-CC3IC
ODP7
E
CC4-CC7
CC1_M1
CC4IC-CC7IC
ALTSEL0/1P7
E
CC8-CC11
CC1_M2
CC8IC-CC11IC
P9, DP9
CC12-CC15
CC1_M3
CC12IC-CC15IC
ODP9
CC16-CC19
CC2_M4
CC16IC-CC19IC
E
ALTSEL0/1P9
CC20-CC23
CC2_M5
CC20IC-CC23IC
E
P2, DP2
CC24-CC27
CC2_M6
CC24IC-CC27IC
E
ODP2
E
CC28-CC31
CC2_M7
CC28IC-CC31IC
E
ALTSEL0P2
E
CC1/2_OUT
CC1/2_SEE
P1L, P1H
CC1/2_SEM
DP1L, DP1H
E
CC1/2_DRM
ALTSEL0P1L/H
E
CC1/2_IOC
CC0...15
CC0...15IC
CCM0...3
T01CON
T0, T1
T0/1REL
T0IC, T1IC
CC1/2_SEE
CC1/2_SEM
CC1/2_DRM
CC1/2_OUT
CC1/2_IOC
E
CAPCOM1 Register 0...15
CAPCOM1 Intr. Ctrl. Reg. 0...15
CAPCOM1 Mode Ctrl. Reg. 0...3
CAPCOM1 Timer Control Reg.
CAPCOM1 Timer Register
CAPCOM1 Timer Reload Register
CAPCOM1 Timer x Intr. Ctrl. Reg.
CAPCOM Single Event En. Reg.
CAPCOM Single Event Mode Reg.
CAPCOM Double Reg. Mode Reg.
CAPCOM Output Register
CAPCOM Input/Outp. Control Reg.
SYSCON3
CC16...31
CC16...31IC
CCM4...7
T78CON
T7, T8
T7/8REL
T7IC, T8IC
Px
DPx
ODPx
ALTSEL0Px
ALTSEL1Px
SYSCON3
E
CAPCOM2 Register 16...31
CAPCOM2 Intr. Ctrl. Reg. 16...31
CAPCOM2 Mode Ctrl. Reg. 4...7
CAPCOM2 Timer Control Reg.
CAPCOM2 Timer Register
CAPCOM2 Timer Reload Register
CAPCOM2 Timer x Intr. Ctrl. Reg.
Port x Data Register
Port x Direction Control Register
Port x Open Drain Control Register
Port x Alternate Outp. Select Reg.0
Port x Alternate Outp. Select Reg.1
System Ctrl. Reg. 3 (Per. Mgmt.)
mc_capcom120100_registers.vsd
Figure 17-1 SFRs Associated with the CAPCOM Units
User’s Manual
CC12_X8, V2.1
17-1
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
With this mechanism, each CAPCOM unit supports generation and control of timing
sequences on up to 16 channels with a minimum of software intervention.
From the programmer’s point of view, the term ‘CAPCOM unit’ refers to a set of registers
which are associated with this peripheral, including the port pins which may be used for
alternate input/output functions, and their direction control bits (see also Figure 17-1).
A CAPCOM unit is typically used to handle high speed IO tasks such as pulse and
waveform generation, pulse width modulation, or recording of the time when a specific
event occurs. It also supports the implementation of up to 16 software-controlled
interrupt events.
Each CAPCOM Unit consists of two 16-bit timers (T0/T1, T7/T8), each with its own
reload register (TxREL), and a bank of sixteen dual-purpose 16-bit capture/compare
registers (CCy).
The input clock for the CAPCOM timers is programmable to several prescaled values of
the module input clock (fCC), or it can be derived from the overflow/underflow of timer T6.
T0/T7 may also operate in counter mode (from an external input), clocked by external
events.
Each capture/compare register may be programmed individually for capture or compare
operation, and each register may be allocated to either of the two timers. Each
capture/compare register has one signal associated with it, which serves as an input
signal for the capture operation or as an output signal for the compare operation.
The capture operation causes the current timer contents to be latched into the respective
capture/compare register, triggered by an event (transition) on the associated input
signal. This event also activates the associated interrupt request line.
The compare operation may cause an output signal transition on the associated output
signal, when the allocated timer increments to the value stored in a capture/compare
register. The compare match event also activates the associated interrupt request line.
In Double-register compare mode a pair of registers controls one common output signal.
The compare output signals are available via a dedicated output register, and may also
control the output latches of the connected port pins. The output path can be selected.
For the switching of the output signals two timing schemes (see Section 17.8) can be
selected:
In Staggered Mode1) the output signals are switched consecutively in 8 steps, which
distributes the switching steps over a certain time. In staggered mode, the maximum
resolution is 8 tCC.
In Non-Staggered Mode the output signals are switched immediately at the same time.
In non-staggered mode, the maximum resolution is 1 tCC.
Figure 17-2 shows the basic structure of a CAPCOM unit.
1) Staggered mode is compatible with the CAPCOM units of previous 16-bit controllers.
User’s Manual
CC12_X8, V2.1
17-2
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
Reload Reg.
T0REL/T7REL
fCC
T0IN/T7IN
T6OUF
T0/T7
Input
Control
Timer T0/T7
CCxIRQ
CCxIRQ
CCxIO
CCxIO
Mode
Control
(Capture
or
Compare)
Sixteen
16-bit
Capture/
Compare
Registers
CCxIRQ
CCxIO
fCC
T6OUF
T0IRQ,
T7IRQ
T1/T8
Input
Control
Timer T1/T8
T1IRQ,
T8IRQ
Reload Reg.
T1REL/T8REL
CAPCOM1 provides channels x = 0 … 15, CAPCOM2 provides channels x = 16 … 31.
(see signals CCxIO and CCxIRQ)
MCB05418
Figure 17-2 CAPCOM Unit Block Diagram
User’s Manual
CC12_X8, V2.1
17-3
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
17.1
The CAPCOM Timers
The primary use of the timers T0/T7 and T1/T8 is to provide two independent time bases
for the capture/compare channels of each unit. The maximum resolution is 8 tCC in
staggered mode, and 1 tCC in non-staggered mode.
The basic structure of the two timers, illustrated in Figure 17-3, is identical, except for
the input pin (see mark).
Reload
Reg. TxREL
fCC
Prescaler
TxI
T6OUF
Edge
TxIN
fTx
TxM
MUX
TxI
Count
TxR
Select
TxI
Timer Tx
TxIRQ
to
Capure/Compare
Register Array
x = 0, 1, 7, 8
MCB05419
Figure 17-3 Block Diagram of a CAPCOM Timer
Note: When an external input signal is connected to the input lines of both T0 and T7,
these timers count the input signal synchronously. Thus, the two timers can be
regarded as one timer whose contents can be compared with 32 compare
registers.
The functions of the CAPCOM timers are controlled via the bit-addressable control
registers T01CON and T78CON. The high-byte of T01CON controls T1, the low-byte of
T01CON controls T0. The high-byte of T78CON controls T8, the low-byte of T78CON
controls T7. The control options are identical for all four timers (except for external input).
In all modes, the timers are always counting upward. The current timer values are
accessible for the CPU in the timer registers Tx, which are non bit-addressable registers.
When the CPU writes to a register Tx in the state immediately before the respective timer
increment or reload is to be performed, the CPU write operation has priority and the
increment or reload is disabled to guarantee correct timer operation.
User’s Manual
CC12_X8, V2.1
17-4
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
CC1_T01CON
Timer 0/1 Control Register
15
14
13
12
11
-
T1R
-
T1M
-
rw
-
rw
SFR (FF50H/A8H)
10
CC2_T78CON
Timer 7/8 Control Register
15
14
13
12
11
-
T8R
-
T8M
-
rw
-
rw
9
8
Reset Value: 0000H
7
6
5
4
T1I
-
T0R
-
T0M
T0I
rw
-
rw
-
rw
rw
SFR (FF20H/90H)
10
9
8
3
2
1
0
Reset Value: 0000H
7
6
5
4
3
2
1
T8I
-
T7R
-
T7M
T7I
rw
-
rw
-
rw
rw
Field
Bits
Type
Description
TxR
14, 6
rw
Timer/Counter Tx Run Control
0
Timer/Counter Tx is disabled
1
Timer/Counter Tx is enabled
TxM
11, 3
rw
Timer/Counter Tx Mode Selection
0
Timer Mode
1
Counter Mode
TxI
[10:8],
[2:0]
rw
Timer/Counter Tx Input Selection
Timer Mode (TxM = 0):
Input frequency fTx = fCC/2(<TxI>+3) or fCC/2(<TxI>),
depending on (non-)staggered mode, see
Table 17-1
Counter Mode (TxM = 1):
000 Overflow/Underflow of GPT Timer T6
001 Positive (rising) edge on pin TxIN
010 Negative (falling) edge on pin TxIN
011 Any edge (rising and falling) on pin TxIN
1XX Reserved. Do not use this combination!
0
Note: For timers T1 and T8 the only option in counter
mode is 000B. T1 and T8 stop in other cases.
The timer run flags TxR allow the starting and stopping of the timers. The following
description of the timer modes and operation always applies to the enabled state of the
timers, i.e. the respective run flag is assumed to be set.
User’s Manual
CC12_X8, V2.1
17-5
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
Timer Mode
In Timer Mode (TxM = 0), the input clock for a CAPCOM timer is derived from fCC,
divided by a programmable prescaler. Each timer has its own individual prescaler,
controlled through the individual bitfields TxI in the timer control registers T01CON and
T78CON.
The input frequency fTx for a timer Tx and its resolution rTx are determined by the
following formulas:
Staggered Mode:
f CC [ MHz ]
f Tx [ MHz ] = ------------------------( <Txl> + 3 )
2
( <Txl> + 3 )
2
r Tx [ µs ] = ------------------------f CC [ MHz ]
(17.1)
Non-Staggered Mode:
f CC [ MHz ]
f Tx [ MHz ] = ------------------------<Txl>
2
<Txl>
2
r Tx [ µs ] = ------------------------f CC [ MHz ]
(17.2)
When a timer overflows from FFFFH to 0000H, it is reloaded with the value stored in its
respective reload register TxREL. The reload value determines the period PTx between
two consecutive overflows of Tx as follows:
Staggered Mode:
16
( <Txl> + 3 )
( 2 – <TxREL> ) × 2
P Tx [ µs ] = ------------------------------------------------------------------------f CC [ MHz ]
(17.3)
Non-Staggered Mode:
16
<Txl>
( 2 – <TxREL> ) × 2
P Tx [ µs ] = ---------------------------------------------------------------f CC [ MHz ]
(17.4)
After a timer has been started by setting its run flag (TxR), the first increment will occur
within the time interval which is defined by the selected timer resolution. All further
increments occur exactly after the time defined by the timer resolution.
Examples for timer input frequencies, resolution and periods, which result from the
selected prescaler option in TxI when using a 40 MHz clock, are listed in Table 17-1
below. The numbers for the timer periods are based on a reload value of 0000H. Note
that some numbers may be rounded.
User’s Manual
CC12_X8, V2.1
17-6
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
Table 17-1
TxI
Timer Tx Input Clock Selection for Timer Mode, fCC = 40 MHz
Prescaler
Input
Frequency
Resolution
Period
Non-Staggered Mode
000B
8
5 MHz
200 ns
13.11 ms
001B
16
2.5 MHz
400 ns
26.21 ms
010B
32
1.25 MHz
800 ns
52.43 ms
011B
64
625 kHz
1.6 µs
104.86 ms
100B
128
312.5 kHz
3.2 µs
209.72 ms
101B
256
156.25 kHz
6.4 µs
419.43 ms
110B
512
78.125 kHz
12.8 µs
838.86 ms
111B
1024
39.0625 kHz
25.6 µs
1677.72 ms
Non-Staggered Mode
000B
1
40 MHz
25 ns
1.6384 ms
001B
2
20 MHz
50 ns
3.2768 ms
010B
4
10 MHz
100 ns
6.5536 ms
011B
8
5 MHz
200 ns
13.11 ms
100B
16
2.5 MHz
400 ns
26.21 ms
101B
32
1.25 MHz
800 ns
52.43 ms
110B
64
625 kHz
1.6 µs
104.86 ms
111B
128
312.5 kHz
3.2 µs
209.72 ms
User’s Manual
CC12_X8, V2.1
17-7
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
Counter Mode
In Counter Mode (TxM = 1), the input clock of a CAPCOM timer is either derived from an
associated external input pin, T0IN/T7IN, or from the over-/underflows of GPT timer T6.
Using an external signal connected to pin TxIN as a counting signal is only possible for
timers T0 and T7. The only counter option for timers T1 and T8 is using the over/underflows of the GPT timer T6 (selected by TxI = 000B).
Bitfields T0I/T7I are used to select either a positive, a negative, or both a positive and a
negative transition of the external signal at pin T0IN/T7IN to trigger an increment of timer
T0/T7. Please note that certain criteria must be met for the external signal and the port
pin programming for this mode in order to operate properly. These conditions are
detailed in Chapter 17.10.
Timer Overflow and Reload
When a CAPCOM timer contains the value FFFFH at the time a new count trigger occurs,
a timer interrupt request is generated, and the timer is loaded with the contents of its
associated reload register TxREL. The timer then resumes incrementing with the next
count trigger starting from the reloaded value.
The reload registers TxREL are not bitaddressable. After reset, they contain the value
0000H.
User’s Manual
CC12_X8, V2.1
17-8
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
17.2
CAPCOM Timer Interrupts
Upon a timer overflow the corresponding timer interrupt request flag TxIR for the
respective timer will be set. This flag can be used to generate an interrupt or trigger a
PEC service request, when enabled by the respective interrupt enable bit TxIE.
Each timer has its own bitaddressable interrupt control register and its own interrupt
vector. The organization of the interrupt control registers TxIC is identical with the other
interrupt control registers.
CC1_T0IC
CAPCOM T0 Intr. Ctrl. Reg.
15
14
13
12
11
SFR (FF9CH/CEH)
10
9
-
-
-
-
14
13
12
-
-
11
-
-
-
-
10
14
13
12
9
-
-
11
-
-
-
-
10
14
13
12
9
-
-
11
-
-
-
-
8
7
6
rw
rwh
8
7
rw
rwh
10
9
8
7
-
-
rw
rwh
rw
0
rw
rw
Reset Value: - - 00H
5
4
3
2
1
0
ILVL
GLVL
rw
rw
Reset Value: - - 00H
5
4
3
2
1
0
ILVL
GLVL
rw
rw
rw
6
1
GLVL
rw
6
2
ILVL
rw
GPX T8IR T8IE
-
3
ESFR (F17CH/BFH)
-
rwh
GPX T7IR T7IE
CC2_T8IC
CAPCOM T8 Intr. Ctrl. Reg.
15
rw
4
ESFR (F17AH/BEH)
-
5
GPX T1IR T1IE
CC2_T7IC
CAPCOM T7 Intr. Ctrl. Reg.
15
6
SFR (FF9EH/CFH)
-
7
GPX T0IR T0IE
CC1_T1IC
CAPCOM T1 Intr. Ctrl. Reg.
15
8
Reset Value: - - 00H
Reset Value: - - 00H
5
4
3
2
1
0
ILVL
GLVL
rw
rw
Note: Please refer to the general Interrupt Control Register description for an
explanation of the control fields.
User’s Manual
CC12_X8, V2.1
17-9
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
17.3
Capture/Compare Channels
The 16-bit capture/compare registers CC0 through CC15 (CC16 through CC31) are
used as data registers for capture or compare operations with respect to timers T0/T7
and T1/T8. The capture/compare registers are not bit-addressable.
The functions of the 16 capture/compare registers of a unit are controlled by 4 bitaddressable 16-bit mode control registers, named CC1_M0 … CC1_M3 (CC2_M4 …
CC2_M7), which are all organized identically (see description below). Each register
contains the bits for mode selection and timer allocation for four capture/comp. registers.
Capture/Compare Registers for the CAPCOM1 Unit (CC15 … CC0)
CC1_M0
CAPCOM Mode Ctrl. Reg. 0
15
14
13
12
11
10
SFR (FF52H/A9H)
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
ACC
3
MOD3
ACC
2
MOD2
ACC
1
MOD1
ACC
0
MOD0
rw
rw
rw
rw
rw
rw
rw
rw
CC1_M1
CAPCOM Mode Ctrl. Reg. 1
15
14
13
12
11
10
SFR (FF54H/AAH)
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
ACC
7
MOD7
ACC
6
MOD6
ACC
5
MOD5
ACC
4
MOD4
rw
rw
rw
rw
rw
rw
rw
rw
CC1_M2
CAPCOM Mode Ctrl. Reg. 2
15
14
13
12
11
10
SFR (FF56H/ABH)
9
8
7
6
5
4
3
2
1
MOD11
ACC
10
MOD10
ACC
9
MOD9
ACC
8
MOD8
rw
rw
rw
rw
rw
rw
rw
rw
15
14
13
12
11
10
SFR (FF58H/ACH)
9
8
7
6
5
4
3
2
1
MOD15
ACC
14
MOD14
ACC
13
MOD13
ACC
12
MOD12
rw
rw
rw
rw
rw
rw
rw
rw
17-10
0
Reset Value: 0000H
ACC
15
User’s Manual
CC12_X8, V2.1
0
Reset Value: 0000H
ACC
11
CC1_M3
CAPCOM Mode Ctrl. Reg. 3
0
0
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Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
Capture/Compare Registers for the CAPCOM2 Unit (CC31 … CC16)
CC2_M4
CAPCOM Mode Ctrl. Reg. 4
15
14
13
12
11
10
SFR (FF22H/91H)
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
ACC
19
MOD19
ACC
18
MOD18
ACC
17
MOD17
ACC
16
MOD16
rw
rw
rw
rw
rw
rw
rw
rw
CC2_M5
CAPCOM Mode Ctrl. Reg. 5
15
14
13
12
11
10
SFR (FF24H/92H)
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
ACC
23
MOD23
ACC
22
MOD22
ACC
21
MOD21
ACC
20
MOD20
rw
rw
rw
rw
rw
rw
rw
rw
CC2_M6
CAPCOM Mode Ctrl. Reg. 6
15
14
13
12
11
10
SFR (FF26H/93H)
9
8
7
6
5
4
3
2
1
MOD27
ACC
26
MOD26
ACC
25
MOD25
ACC
24
MOD24
rw
rw
rw
rw
rw
rw
rw
rw
15
14
13
12
11
10
SFR (FF28H/94H)
9
8
7
6
0
Reset Value: 0000H
ACC
27
CC2_M7
CAPCOM Mode Ctrl. Reg. 7
0
0
Reset Value: 0000H
5
4
3
2
1
ACC
31
MOD31
ACC
30
MOD30
ACC
29
MOD29
ACC
28
MOD28
rw
rw
rw
rw
rw
rw
rw
rw
0
Field
Bits
Type
Description
ACCy
15, 11,
7, 3
rw
Allocation Bit for CAPCOM Register CCy
0
CCy allocated to Timer T0 or T7, respectively
1
CCy allocated to Timer T1 or T8, respectively
MODy
[14:12],
[10:8],
[6:4],
[2:0]
rw
Mode Selection for CAPCOM Register CCy
See Table 17-2.
User’s Manual
CC12_X8, V2.1
17-11
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
Each of the registers CCy may be individually programmed for capture mode or for one
of 4 different compare modes, and may be allocated individually to one of the two timers
of the respective CAPCOM unit. A special double-register compare mode combines two
registers to act on one common output signal. When capture or compare operations are
disabled for one of the CCy registers, it may be used for general purpose variable
storage.
Table 17-2
Selection of Capture Modes and Compare Modes
Mode
MODy
Selected Operating Mode
Disabled
000
Disable Capture and Compare Modes
The respective CAPCOM register may be used for general
variable storage.
Capture
001
Capture on Positive Transition (Rising Edge) at Pin CCyIO
010
Capture on Negative Transition (Falling Edge) at Pin CCyIO
011
Capture on Positive and Negative Transition (Both Edges) at
Pin CCyIO
100
Compare Mode 0: Interrupt Only
Several interrupts per timer period.
Can enable double-register compare mode for Bank2 registers.
101
Compare Mode 1: Toggle Output Pin on each Match
Several compare events per timer period.
Can enable double-register compare mode for Bank1 registers.
110
Compare Mode 2: Interrupt Only
Only one interrupt per timer period.
111
Compare Mode 3: Set Output Pin on each Match
Reset output pin on each timer overflow; only one interrupt per
timer period.
Compare
The detailed discussion of the capture and compare modes is valid for all the
capture/compare channels, so registers, bits and pins are only referenced by a
placeholder.
Note: A capture or compare event on channel 31 may be used to trigger a channel
injection on the XC167’s A/D converter if enabled.
User’s Manual
CC12_X8, V2.1
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V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
17.4
Capture Mode Operation
In Capture Mode, the current contents of a CAPCOM timer are latched (captured) into
the respective capture/compare register in response to an external event. This is used,
for example, to record the time at which an external event has occurred, or to measure
the distance between two external events in timer increments.
The event to cause a capture of a timer’s contents can be programmed to be either the
positive, the negative, or both the positive and the negative transition of the external
signal connected to the input pin. This triggering transition is selected by bitfield MODy
in the respective mode control register. When the selected external signal transition
occurs, the selected timer’s contents is latched into the capture/compare register and the
respective interrupt request line CCyIRQ is activated. This can cause an interrupt or PEC
service request, when enabled.
Note: A capture input can be used as an additional external interrupt input. The capture
operation can be disregarded in this case.
Either the contents of timer T0/T7 or T1/T8 can be captured, selected by the timer
allocation control bit ACCy in the respective mode control register.
Timer T0/T7
ACCy
Timer T1/T8
Interrupt
Requests
MUX
Input
Clock
Edge
CCyIO
CCyIRQ
Select
Capture
Register CCy
MODy
MCB05420
Figure 17-4 Capture Mode Block Diagram
For capture operation, the respective pin must be programmed for input. To ensure that
a transition of the input signal is recognized correctly, its level must be held high or low
for a minimum number of module clock cycles before it changes. This information can
be found in Section 17.10.
User’s Manual
CC12_X8, V2.1
17-13
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
17.5
Compare Mode Operation
The compare modes allow triggering of events (interrupts and/or output signal
transitions) or generation of pulse trains with minimum software overhead. In all compare
modes, the 16-bit value stored in a capture/compare register CCy (in the following also
referred to as ‘compare value’) is continuously compared with the contents of the
allocated timer (T0/T7 or T1/T8). If the current timer contents match the compare value,
the interrupt request line associated with register CCy is activated and, depending on the
compare mode, an output signal can be generated at the corresponding output pin
CCyIO.
Four different compare modes are available, which can be selected individually for each
of the capture/compare registers by bitfield MODy in the respective mode control
register. Modes 0 and 2 do not influence the output signals. In the following, each mode
is described in detail.
In addition to these ‘single-register’ modes, a ‘double-register’ compare mode enables
two registers to operate on the same pin. This feature can further reduce software
overhead, as two different compare values can be programmed to control a sequence of
transitions for a signal. See Section 17.5.5 for details for this operation.
In all Compare Modes, the comparator performs an ‘equal to’ comparison. This means,
a match is only detected when the timer contents are equal to the contents of a compare
register. In addition, the comparator is only enabled in the clock cycle directly after the
timer was incremented by hardware. This is done to prevent repeated matches if the
timer does not operate with the highest possible input clock (either in timer or counter
mode). In this case, the timer contents would remain at the same value for several or up
to thousands of cycles. This operation has the side-effect, that software modifications of
the timer contents will have no effect regarding the comparator. If a timer is set by
software to the same value stored in one of the compare registers, no match will be
detected. If a compare register is set to a value smaller than the current timer contents,
no action will take place.
For the exact operation of the port output function, please see Section 17.6.
When two or more compare registers are programmed to the same compare value1),
their corresponding interrupt request flags will be set and the selected output signals will
be generated after the allocated timer is incremented to this compare value. Further
compare events on the same compare value are disabled2) until the timer is incremented
again or written to by software. After a reset, compare events for register CCy will only
become enabled, if the allocated timer has been incremented or written to by software
and one of the compare modes described in the following has been selected for this
register.
1) In staggered mode these interrupts and output signals are generated sequentially (see Section 17.8).
2) Even if more compare cycles are executed before the timer increments (lower timer frequency) a given
compare value only results in one single compare event.
User’s Manual
CC12_X8, V2.1
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V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
17.5.1
Compare Mode 0
This is an interrupt-only mode which can be used for software timing purposes. In this
mode, the interrupt request line CCyIRQ is activated each time a match is detected
between the contents of the compare register CCy and the allocated timer. A match
means, the contents of the timer are equal to (‘=’) the contents of the compare register.
Several of these compare events are possible within a single timer period, if the compare
value in register CCy is updated during the timer period. The corresponding port signal
CCyIO is not affected by compare events in this mode and can be used as general
purpose IO.
Note: If compare mode 0 is programmed for one of the bank2 registers the doubleregister compare mode may be enabled for this register (see Chapter 17.5.5).
17.5.2
Compare Mode 1
This is a compare mode which influences the associated output signal. Besides this, the
basic operation is as in compare mode 0. Each time a match is detected between the
contents of the compare register CCy and the allocated timer, the interrupt request line
CCyIRQ is activated. In addition, the associated output signal is toggled. Several of
these compare events are possible within a single timer period, if the compare value in
register CCy is updated during the timer period.
Note: If compare mode 1 is programmed for one of the bank1 registers the doubleregister compare mode may be enabled for this register (see Section 17.5.5).
For the exact operation of the port output signal, please see Section 17.6.
User’s Manual
CC12_X8, V2.1
17-15
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
Timer T0/T7
Timer T1/T8
T1IRQ,
T8IRQ
ACCy
MUX
T0IRQ,
T7IRQ
Mode 1 only!
Mode &
Output Ctrl.
MODy
Mode
Control
SEEy
SEMy
Comparator
=?
to Port
Logic
CCyIRQ
Compare
Register CCy
MCB05421
Figure 17-5 Compare Mode 0 and 1 Block Diagram
Note: The signal remains unaffected in compare mode 0.
Figure 17-6 illustrates a few example cases for compare modes 0 and 1.
In all examples, the reload value of the used timer is set to FFF9H. When the timer
overflows, it starts counting from this value upwards.
In Case 1, register CCy contains the value FFFCH. When the timer reaches this value,
a match is detected, and the interrupt request line CCyIRQ is activated. In compare
mode 0, this is all that will happen. In compare mode 1, additionally the associated port
output is toggled, causing an inversion of the output signal. If the contents of register CCy
are not changed, this operation will take place each time the timer reaches the
programmed compare value.
In Case 2, software reloads the compare register CCy with FFFFH after the first match
with FFFCH has occurred. As the timer continues to count up, it finally reaches this new
compare value, and a new match is detected, activating the interrupt request line (both
modes) and toggling the output signal (compare mode 1). If then the compare value is
left unchanged, the next match will occur when the timer reaches FFFFH again.
This example illustrates, that further compare matches are possible within the current
timer period (this is in contrast to compare modes 2 and 3).
User’s Manual
CC12_X8, V2.1
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V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
Timer Contents
FFFF
FFFF
FFFE
FFFE
FFFD
FFFD
FFFC
FFFC
FFFB
FFFB
FFFA
FFFA
FFF9
FFF9
Reload Value = FFF9
CCxIO
Case 1
CC0 = FFFF
CCxIO
Case 2
CC0 = FFFA
CC0 = FFFD
CC0 = FFFC
CCxIO
Case 3
CC0 = FFF9
CC0 =
FFFA
CC0 =
FFFC
CC0 =
FFFF
CC0 =
FFFB
CCxIO
Case 4
Symbolizes activation of the interrupt request line CCyIRQ
MCT05422
Figure 17-6 Examples for Compare Modes 0 and 1
In Case 3, a new compare value, higher than the current timer contents, causes a new
match within the current timer period. The compare register is reloaded with FFFAH after
the first match (at FFFCH). However, the timer has already passed this value. Thus, it will
take until the timer reaches FFFAH in the following timer period to cause the desired
compare match. Reloading register CCy now with a value higher than the current timer
contents will cause the next match within this period.
In Case 4, the compare values are equal to the timer reload value or to the maximum
count value, FFFFH.
User’s Manual
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V1.0, 2004-06
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Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
17.5.3
Compare Mode 2
Compare mode 2 is an interrupt-only mode similar to compare mode 0. The main
difference is that only one compare match, corresponding to one interrupt request, is
possible within a given timer period.
When a match is detected in compare mode 2 for the first time within a count period of
the allocated timer, the interrupt request line CCyIRQ is activated. In addition, all further
compare matches within the current timer period are disabled, even if a new compare
value, higher than the current timer contents, would be written to the register. This
blocking is only released when the allocated timer overflows. A new compare value
written to the compare register after the first match will only go into effect within the
following timer period.
17.5.4
Compare Mode 3
Compare mode 3 is based on compare mode 2, but additionally influences the
associated port pin. Only one compare event is possible within one timer period.
When a match is detected in compare mode 3 for the first time within a count period of
the allocated timer, the interrupt request line CCyIRQ is activated, and the associated
output signal is set to 1. In addition, all further compare matches within the current timer
period are disabled, even if a new compare value, higher than the current timer contents,
would be written to the register. This blocking is only released when the allocated timer
overflows. A new compare value written to the compare register after the first match will
only go into effect within the following timer period.
The overflow signal is also used to reset the associated output signal to 0.
Special attention has to be paid when the compare value is set equal to the timer reload
value. In this case, the compare match signal would try to set the output signal, while the
timer overflow tries to reset the output signal. This conflict is avoided such that the state
of the output signal is left unchanged in this case.
Note: When the compare value is changed from a value above the current timer
contents to a value below the current timer contents, the new value is not
recognized before the next timer period.
For the exact operation of the port output signal, please see Section 17.6.
User’s Manual
CC12_X8, V2.1
17-18
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
Timer T0/T7
T1IRQ,
T8IRQ
Timer T1/T8
MUX
ACCy
MUX
T0IRQ,
T7IRQ
ACCy
Mode 3 only!
Mode &
Output Ctrl.
MODy
Mode
Control
SEEy
SEMy
Comparator
=?
to Port
Logic
CCyIRQ
Compare
Register CCy
MCB05423
Figure 17-7 Compare Mode 2 and 3 Block Diagram
Note: The port latch and signal remain unaffected in compare mode 2.
Figure 17-8 illustrates a few timing examples for compare modes 2 and 3.
In all examples, the reload value of the used timer is set to FFF9H. When the timer
overflows, it starts counting from this value upwards.
In Case 1, register CCy contains the value FFFCH. When the timer reaches this value,
a match is detected, and the interrupt request line CCyIRQ is activated. In compare
mode 2, this is all that will happen. In compare mode 3, additionally the associated port
output is set to 1. The timer continues to count, and finally reaches its overflow. At this
point, the port output is reset to 0 again. Note that, although not shown in the diagrams,
the overflow signal of the timer also activates the associated interrupt request line
TxIRQ. If the contents of register CCy are not changed, the port output will be set again
during the following timer period, and reset again when the timer overflows. This
operation is ideal for the generation of a pulse width modulated (PWM) signal with a
minimum of software overhead. The pulse width is varied by changing the compare
value accordingly.
In Case 2, the compare operation is blocked after the first match within a timer period.
After the first match at FFFCH, the interrupt request is generated and the port output is
set. In addition, further compare matches are disabled. If now a new compare value is
written to register CCy, no interrupt request and no port output influence will take place,
although the new compare value is higher than the current timer contents. Only after the
overflow of the timer, the compare logic is enabled again, and the next match will be
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XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
detected at FFFFH. One can see, that this operation is ideal for PWM generation, as
software can write a new compare value regardless of whether this value is higher or
lower than the current timer contents. It is assured that the new value (usually written to
the compare register in the appropriate interrupt service routine) will only go into effect
during the following timer period.
Timer Contents
FFFF
FFFF
FFFE
FFFE
FFFD
FFFD
FFFC
FFFC
FFFB
FFFB
FFFA
FFFA
FFF9
FFF9
Reload Value = FFF9
CCxIO
Case 1
CC0 = FFFF
CCxIO
Case 2
CC0 = FFFA
CC0 = FFFC
CCxIO
Case 3
CC0 = FFFA
CC0 = FFFC
CCxIO
Case 4
MCT05424
Figure 17-8 Timing Example for Compare Modes 2 and 3
Note: In compare mode 2, only interrupt requests are generated, in mode 3, also the
output signals are generated.
In Case 3, further examples for the operation of the compare match blocking are
illustrated.
In Case 4, a new compare value is written to a compare register before the first match
within the timer period. One can see that, of course, the originally programmed compare
match (at FFFAH) will not take place. The first match will be detected at FFFCH. However,
it is important to note that the reprogramming of the compare register took place
asynchronously - this means, the register was written to without any regard to the current
contents of the timer. This is dangerous in the sense that the effect of such an
asynchronous reprogramming is not easily predictable. If the timer would have already
reached the originally programmed compare value of FFFAH by the time the software
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CC12_X8, V2.1
17-20
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
wrote to the register, a match would have been detected and the reprogramming would
go into effect during the next timer period.
The examples in Figure 17-9 show special cases for compare modes 2 and 3. Case 1
illustrates the effect when the compare value is equal to the reload value of the timer. An
interrupt is generated in both modes. In mode 3, the output signal is not affected - it
remains at the high level. Setting the compare value equal to the reload value easily
enables a 100% duty cycle signal for PWM generation. The important advantage here is
that the compare interrupt is still generated and can be used to reload the next compare
value. Thus, no special treatment is required for this case (see Case 3).
Cases 2, 4, and 5 show different options for the generation of a 0% duty cycle signal.
Case 2 shows an asynchronous reprogramming of the compare value equal to the
reload value. At the end of the current timer period, a compare interrupt will be
generated, which enables software to set the next compare value. The disadvantage of
this method is that at least two timer periods will pass until a new regular compare value
can go into effect. The compare match with the reload value FFF9H will block further
compare matches during that timer period. This is additionally illustrated by Case 4.
Timer Contents
FFFF
FFFF
FFFE
FFFE
FFFD
FFFD
FFFC
FFFC
FFFB
FFFB
FFFA
FFFA
FFF9
FFF9
Reload Value = FFF9
Int.
CC0 = FFF9
Int.
Int.
CCxIO
Case 1
Int.
CC0 = FFF9
CCxIO
Case 2
Int.
CC0 = FFF9
Int.
Int.
CC0 = FFFB
CCxIO
Case 3
Int.
CC0 = FFF9
CCxIO
Case 4
Int.
CC0 = FFF8
Int.
CC0 =
FFFC
CC0 =
FFFC
CCxIO
Case 5
No
Comp.
Int.
MCT05425
Figure 17-9 Special Cases in Compare Modes 2 and 3
User’s Manual
CC12_X8, V2.1
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V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
Case 5 shows an option to get around this problem. Here, the compare register is
reloaded with FFF8H, a value which is lower than the timer reload value. Thus, the timer
will never reach this value, and no compare match will be detected. The output signal will
be set to 0 after the first timer overflow. However, after the second overflow, software
now reloads the compare register with a regular compare value. As no compare blocking
has taken place (since there was no compare match), the newly written compare value
will go into effect during the current timer period.
17.5.5
Double-Register Compare Mode
The Double-Register Compare Mode makes it possible to further reduce software
overhead for a number of applications. In this mode, two compare registers work
together to control one output. This mode is selected via the DRM register, or by a
special combination of compare modes for the two registers.
For double-register compare mode, the 16 capture/compare registers of a CAPCOM unit
are regarded as two banks of 8 registers each. The lower eight registers form bank1,
while the upper eight registers form bank2. For double-register mode, a bank1 register
and a bank2 register form a register pair. Both registers of this register pair operate on
the pin associated with the bank1 register.
The relationship between the bank1 and bank2 register of a pair and the effected output
pins for double-register compare mode is listed in Table 17-3.
Table 17-3
Register Pairs for Double-Register Compare Mode
CAPCOM1 Unit
Register Pair
CAPCOM2 Unit
Register Pair
Control
Bitfield in Bank 1 Bank 2
CC1DRM
Used
Output
Pin
Control
Bitfield in
CC2DRM
Bank 1
Bank 2
Used
Output
Pin
CC0
CC8
CC0IO
DR0M
CC16
CC24
CC16IO
DR0M
CC1
CC9
CC1IO
DR1M
CC17
CC25
CC17IO
DR1M
CC2
CC10
CC2IO
DR2M
CC18
CC26
CC18IO
DR2M
CC3
CC11
CC3IO
DR3M
CC19
CC27
CC19IO
DR3M
CC4
CC12
CC4IO
DR4M
CC20
CC28
CC20IO
DR4M
CC5
CC13
CC5IO
DR5M
CC21
CC29
CC21IO
DR5M
CC6
CC14
CC6IO
DR6M
CC22
CC30
CC22IO
DR6M
CC7
CC15
CC7IO
DR7M
CC23
CC31
CC23IO
DR7M
The double-register compare mode can be programmed individually for each register
pair. Double-register compare mode can be selected via a certain combination of
compare modes for the two registers of a pair. The bank1 register must be programmed
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CC12_X8, V2.1
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Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
for mode 1 (with port influence), while the bank2 register must be programmed for
mode 0 (interrupt-only).
Double-register compare mode can be controlled (this means, enabled or disabled) for
each register pair via the associated control bitfield DRxM in register CC1_DRM or
CC2_DRM, respectively.
CC1_DRM
Double-Reg. Cmp. Mode Reg.
15
14
13
12
11
10
SFR (FF5AH/ADH)
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
DR7M
DR6M
DR5M
DR4M
DR3M
DR2M
DR1M
DR0M
rw
rw
rw
rw
rw
rw
rw
rw
CC2_DRM
Double-Reg. Cmp. Mode Reg.
15
14
13
12
11
10
SFR (FF2AH/95H)
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
DR7M
DR6M
DR5M
DR4M
DR3M
DR2M
DR1M
DR0M
rw
rw
rw
rw
rw
rw
rw
rw
Field
Bits
Type
Description
DRxM
[1:0],
[3:2],
[5:4],
[7:6],
[9:8],
[11:10],
[13:12],
[15:14]
rw
Double Register x Compare Mode Selection
00
DRM is controlled via the combination of compare
modes 1 and 0 (compatibility mode)
01
DRM disabled regardless of compare modes
10
DRM enabled regardless of compare modes
11
Reserved
Note: “x” indicates the register pair index in a bank.
Double-register compare mode can be controlled individually for each of the register
pairs.
In the block diagram of the double-register compare mode (Figure 17-10), a bank2
register will be referred to as CCz, while the corresponding bank1 register will be referred
to as CCy.
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CC12_X8, V2.1
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V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
DRyM
Mode
Control
MODy
SEEy
DRyM
SEEz
CCyIRQ
Mode &
Output Ctrl.
SEMy
SEMz
ACCz
Comp.
=?
Mode
Control
MODz
MUX
ACCy
Timer T1/T8
MUX
Timer T0/T7
Comparator
=?
Compare
Register CCy
Compare
Register CCz
to Port
Logic
CCzIRQ
z=y+8
MCB05426
Figure 17-10 Double-Register Compare Mode Block Diagram
When a match is detected for one of the two registers in a register pair (CCy or CCz),
the associated interrupt request line (CCyIRQ or CCzIRQ) is activated, and pin CCyIO,
corresponding to the bank1 register CCy, is toggled. The generated interrupt always
corresponds to the register that caused the match.
Note: If a match occurs simultaneously for both register CCy and register CCz of the
register pair, pin CCyIO will be toggled only once, but two separate compare
interrupt requests will be generated.
Each of the two registers of a pair can be individually allocated to one of the two timers
in the CAPCOM unit. This offers a wide variety of applications, as the two timers can run
in different modes with different resolution and frequency. However, this might require
sophisticated software algorithms to handle the different timer periods.
Note: The signals CCzIO (which do not serve for double-register compare mode) may
be used for general purpose IO.
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Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
17.6
Compare Output Signal Generation
This section discusses the interaction between the CAPCOM Unit and the Port Logic.
The block diagram illustrated in Figure 17-11 details the logic of the block “Mode &
Output Control”, shown in Figure 17-5, Figure 17-7, and Figure 17-10.
Each output signal is latched in its associated bit of the respective output latch register
CCx_OUT. The individual bits are updated each time an associated compare event
occurs. The bits of these registers are connected to the respective port pins as an
alternate output function of a port line.
Compare signals can also directly affect the associated port output latch Px. In this case,
the port latch must be selected for the respective pin. The direct port latch option is
disabled in non-staggered mode or it can be disabled by setting bit PL in register
CCx_IOC.
Register CCx_OUT is always updated in parallel to the update of the port output latch.
CC1_OUT
Compare Output Reg.
SFR (FF5CH/AEH)
15
14
13
12
11
10
CC
15
IO
CC
14
IO
CC
13
IO
CC
12
IO
CC
11
IO
CC
CC9 CC8 CC7 CC6 CC5 CC4 CC3 CC2 CC1 CC0
10
IO
IO
IO
IO
IO
IO
IO
IO
IO
IO
IO
rwh
rwh
rwh
rwh
rwh
rwh
CC2_OUT
Compare Output Reg.
9
rwh
8
rwh
7
rwh
6
Reset Value: 0000H
rwh
5
rwh
4
rwh
SFR (FF2CH/96H)
rwh
rwh
Reset Value: 0000H
12
11
10
CC
15
IO
CC
14
IO
CC
13
IO
CC
12
IO
CC
11
IO
CC
CC9 CC8 CC7 CC6 CC5 CC4 CC3 CC2 CC1 CC0
10
IO
IO
IO
IO
IO
IO
IO
IO
IO
IO
IO
rwh
rwh
rwh
rwh
rwh
rwh
Bits
CCyIO
15 … 0 rwh
User’s Manual
CC12_X8, V2.1
Type
rwh
6
rwh
0
13
rwh
7
1
14
rwh
8
rwh
2
15
Field
9
3
rwh
5
rwh
4
rwh
3
rwh
2
1
rwh
rwh
0
rwh
Description
Compare Output for Channel y
Alternative port output for the associated port pin.
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Capture/Compare Units
STAG
_
>1
PL
&
Compare
Match
TxOV
Output
Value
Control
Port Latch
0
Driver
MUX
Port Pin
Pm.n
1
OUT Latch
ALTSEL0Pn Direction
MODy
CAPCOM Logic Port Logic
MCB05427
Figure 17-11 Port Output Block Diagram for Compare Modes
Note: A compare output signal is visible at the pin only in compare modes 1 or 3.
The output signal of a compare event can either be a 1, a 0, the complement of the
current level, or the previous level. The block ‘Output Value Control’ determines the
correct new level based on the compare event, the timer overflow signal, and the current
states of the Port and OUT latches. For the output toggle function (e.g. in compare
mode 1), the state of the output latch is read, inverted, and then written back.
The associated output pins either drives the port latch signal or the OUT signal, selected
by register ALTSEL (see Figure 17-11).
Note: If the port output latch is written to by software at the same time it would be altered
by a compare event, the software write will have priority. In this case the hardwaretriggered change will not become effective.
User’s Manual
CC12_X8, V2.1
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V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
17.7
Single Event Operation
If an application requires that one and only one compare event needs to take place
(within a certain time frame), single event operation helps to reduce software overhead
and to eliminate the need for fast reaction upon events.
In order to achieve a single event operation without this feature, software would have to
either disable the compare mode or write a new value, which is outside of the count
range of the timer, into the compare register, after the programmed compare match has
taken place. Thus, usually an interrupt service routine is required to perform this
operation. Interrupt response time may be critical if the timer period is very short - the
disable operation needs to be completed before the timer would reach the same value
again.
The single event operation eliminates the need for software to react after the first
compare match. The complete operation can be set up before the event, and no action
is required after the event. The hardware takes care of generating only one event, and
then disabling all further compare matches.
This option is programmed via the Single Event Mode register CCx_SEM and the Single
Event Enable register CCx_SEE. Each register provides one bit for each CCy register of
a unit.
CC1_SEM
Single Event Mode Ctrl. Reg.
15
14
13
12
11
10
SFR (FE28H/14H)
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
SEM SEM SEM SEM SEM SEM SEM SEM SEM SEM SEM SEM SEM SEM SEM SEM
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
rw
rw
rw
rw
rw
rw
CC2_SEM
Single Event Mode Ctrl. Reg.
15
14
13
12
11
10
rw
rw
rw
rw
rw
rw
SFR (FE2CH/16H)
9
8
7
6
rw
rw
rw
rw
Reset Value: 0000H
5
4
3
2
1
0
SEM SEM SEM SEM SEM SEM SEM SEM SEM SEM SEM SEM SEM SEM SEM SEM
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
Field
Bits
Type
Description
SEMy
15 … 0
rw
Single Event Mode Control
0
Single Event Mode disabled for channel y
1
Single Event Mode enabled for channel y
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17-27
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V1.0, 2004-06
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Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
CC1_SEE
Single Event Enable Reg.
15
14
13
12
11
SFR (FE2EH/17H)
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
SEE SEE SEE SEE SEE SEE SEE SEE SEE SEE SEE SEE SEE SEE SEE SEE
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
rwh
rwh
rwh
rwh
rwh
rwh
CC2_SEE
Single Event Enable Reg.
15
14
13
12
11
rwh
rwh
rwh
rwh
rwh
rwh
SFR (FE2AH/15H)
10
9
8
7
6
rwh
rwh
rwh
rwh
Reset Value: 0000H
5
4
3
2
1
0
SEE SEE SEE SEE SEE SEE SEE SEE SEE SEE SEE SEE SEE SEE SEE SEE
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
rwh
rwh
rwh
rwh
rwh
rwh
rwh
rwh
rwh
rwh
rwh
rwh
rwh
rwh
Field
Bits
Type
Description
SEEy
15 … 0
rw
Single Event Enable Control
0
Single Event disabled for channel y
1
Single Event enabled for channel y
rwh
rwh
Note: This bit is cleared by hardware after the event.
To setup a single event operation for a CCy register, software first programs the desired
compare operation and compare value, and then sets the respective bit in register
CCx_SEM to enable the single event mode. At last, the respective event enable bit in
register CCx_SEE is set.
When the programmed compare match occurs, all operations of the selected compare
mode take place. In addition, hardware automatically disables all further compare
matches and reset the event enable bit in register CCx_SEE to 0. As long as this bit is
cleared, any compare operation is disabled. To setup a new event, this bit must first be
set again.
User’s Manual
CC12_X8, V2.1
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V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
17.8
Staggered and Non-Staggered Operation
The CAPCOM units can run in one of two basic operation modes: Staggered Mode and
Non-Staggered Mode. The selection between these modes is performed via register
IOC.
CC1_IOC
I/O Control Register
15
14
13
12
ESFR (F062H/31H)
11
10
9
3
2
1
0
-
-
ST
AG
PL
-
-
-
rw
rw
-
CC2_IOC
I/O Control Register
15
14
13
12
8
7
6
Reset Value: 0000H
5
4
ESFR (F066H/33H)
11
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
-
-
ST
AG
PL
-
-
-
rw
rw
-
Field
Bits
Type
Description
STAG
2
rw
Staggered Mode Control
0
CAPCOM operates in Staggered Mode
1
CAPCOM operates in Non-Staggered Mode
PL
1
rw
Port Lock Control
0
Compare output signals affect the associated
port output latch
1
Direct influence of the port output latch by the
compare output signals is disabled
Note: Whenever Non-Staggered Mode is enabled (STAG = 1) or Port Lock is activated
(PL = 1), the port output registers are not changed by the CAPCOM unit.
In staggered mode, a CAPCOM operation cycle consists of 8 module clock cycles, and
the outputs of the compare events of the different registers are staggered, that is, the
outputs for compare matches with the same compare value are not switched at the same
time, but with a fixed time delay. This operation helps to reduce noise and peak power
consumption caused by simultaneous switching outputs.
In non-staggered Mode, a CAPCOM operation cycle is equal to one module clock cycle,
and all compare outputs for compare events with the same compare value are switched
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CC12_X8, V2.1
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V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
in the same clock cycle. This mode offers a faster operation and increased resolution of
the CAPCOM unit, 8 times higher than in staggered mode.
Staggered Mode
Figure 17-12 illustrates the staggered mode operation. In this example, all CCy registers
are programmed for compare mode 3.
Registers CC0, CC1, and CC2 are all programmed for a compare value of FFFEH. When
the timer increments to FFFEH, the comparator detects a match for all of the three
registers. The output CC0IO of register CC0 is switched to 1 one cycle after the
comparator match. However, the outputs CC1IO and CC2IO are not switched at the
same time, but one, respectively two cycles later. This staggering of the outputs
continues for all registers including register CC7. The number of the register indicates
the delay of the output signal in clock cycles - the output of register CC7 is switched
7 cycles later than the one of register CC0. In the example, the compare value for
register CC7 is set to FFFDH. Thus, the output is switched in the last clock cycle of the
CAPCOM cycle in which the timer reached FFFDH.
When the timer overflows, all compare outputs are reset to 0 (compare mode 3). Again,
the staggering of the output signals can be seen from Figure 17-12.
Looking at registers CC8 through CC15 shows that their outputs are switched in parallel
to the respective outputs of registers CC0 through CC15. In fact, the staggering is
performed in parallel for the upper and the lower register bank. In this way, it is assured,
that both compare signals of a register pair in double-register compare mode operate
simultaneously.
In staggered mode direct port latch switching (see Section 17.6) is possible. However,
it is possible to use the alternate output function option of the associated port pins to
output the compare signals.
User’s Manual
CC12_X8, V2.1
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V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
Timer
contents
= FFFD
Timer increments to
FFFE
Timer increments to
FFFF
Timer overflow
Timer is reloaded
with FFFC
1 CAPCOM Cycle
= 8 fCC Clock Cycles
1 CAPCOM Cycle
= 8 fCC Clock Cycles
CC0 = FFFE
CC1 = FFFE
CC2 = FFFE
CC3 = FFFF
CC4 = FFFE
CC5 = FFFF
CC6 = FFFF
CC7 = FFFD
CC8 = FFFE
CC9 = FFFE
CC10 = FFFE
CC11 = FFFF
CC12 = FFFE
CC13 = FFFF
CC14 = FFFF
CC15 = FFFD
MCT05428
Figure 17-12 Staggered Mode Operation
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CC12_X8, V2.1
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V1.0, 2004-06
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Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
Non-Staggered Mode
To gain maximum speed and resolution with the CAPCOM unit, it can be switched to
non-staggered mode. In this mode, one CAPCOM operation cycle is equal to one
module clock cycle. Timer increment and the comparison of its new contents with the
contents of the compare register takes place within one clock cycle. The appropriate
output signals are switched in the following clock cycle (in parallel to the next possible
timer increment and comparison).
Figure 17-13 illustrates the non-staggered mode. Note that when the timer overflows, it
also takes one additional clock cycle to switch the output signals.
Note: In non-staggered mode, direct port latch switching is disabled.
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V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
Timer
contents
= FFFD
Timer increments to
FFFE
Timer increments to
FFFF
Timer overflow
Timer is reloaded
with FFFC
1 CAPCOM Cycle
= 1 fCC Clock Cycle
1 CAPCOM Cycle
= 1 fCC Clock Cycle
CC0 = FFFE
CC1 = FFFE
CC2 = FFFE
CC3 = FFFF
CC4 = FFFE
CC5 = FFFF
CC6 = FFFF
CC7 = FFFD
CC8 = FFFE
CC9 = FFFE
CC10 = FFFE
CC11 = FFFF
CC12 = FFFE
CC13 = FFFF
CC14 = FFFF
CC15 = FFFD
MCT05429
Figure 17-13 Non-Staggered Mode Operation
User’s Manual
CC12_X8, V2.1
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V1.0, 2004-06
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Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
17.9
CAPCOM Interrupts
Upon a capture or compare event, the interrupt request flag CCxIR for the respective
capture/compare register CCx is automatically set. This flag can be used to generate an
interrupt or trigger a PEC service request when enabled by the interrupt enable bit
CCxIE. Capture interrupts can be regarded as external interrupt requests with the
additional feature of recording the time at which the triggering event occurred.
Each of the capture/compare registers has its own bitaddressable interrupt control
register and its own interrupt vector allocated. These registers are organized in the same
way as all other interrupt control registers. The basic register layout is shown below,
Table 17-4 lists the associated addresses.
CCx_CCyIC
CAPCOM Intr. Ctrl. Reg.
15
14
13
12
11
(E)SFR (Table 17-4)
10
9
-
-
-
-
8
GPX
-
-
-
rw
7
6
CCy CCy
IR
IE
rwh
rw
Reset Value: - - 00H
5
4
3
2
1
0
ILVL
GLVL
rw
rw
Note: Please refer to the general Interrupt Control Register description for an
explanation of the control fields.
User’s Manual
CC12_X8, V2.1
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Capture/Compare Units
Table 17-4
CAPCOM Unit Interrupt Control Register Addresses
CAPCOM1 Unit
CAPCOM2 Unit
Register Name
Address
Reg.
Space
Register Name
Address
Reg.
Space
CC1_CC0IC
FF78H/BCH
SFR
CC2_CC16IC
F160H/B0H
ESFR
CC1_CC1IC
FF7AH/BDH
SFR
CC2_CC17IC
F162H/B1H
ESFR
CC1_CC2IC
FF7CH/BEH
SFR
CC2_CC18IC
F164H/B2H
ESFR
CC1_CC3IC
FF7EH/BFH
SFR
CC2_CC19IC
F166H/B3H
ESFR
CC1_CC4IC
FF80H/C0H
SFR
CC2_CC20IC
F168H/B4H
ESFR
CC1_CC5IC
FF82H/C1H
SFR
CC2_CC21IC
F16AH/B5H
ESFR
CC1_CC6IC
FF84H/C2H
SFR
CC2_CC22IC
F16CH/B6H
ESFR
CC1_CC7IC
FF86H/C3H
SFR
CC2_CC23IC
F16EH/B7H
ESFR
CC1_CC8IC
FF88H/C4H
SFR
CC2_CC24IC
F170H/B8H
ESFR
CC1_CC9IC
FF8AH/C5H
SFR
CC2_CC25IC
F172H/B9H
ESFR
CC1_CC10IC
FF8CH/C6H
SFR
CC2_CC26IC
F174H/BAH
ESFR
CC1_CC11IC
FF8EH/C7H
SFR
CC2_CC27IC
F176H/BBH
ESFR
CC1_CC12IC
FF90H/C8H
SFR
CC2_CC28IC
F178H/BCH
ESFR
CC1_CC13IC
FF92H/C9H
SFR
CC2_CC29IC
F184H/C2H
ESFR
CC1_CC14IC
FF94H/CAH
SFR
CC2_CC30IC
F18CH/C6H
ESFR
CC1_CC15IC
FF96H/CBH
SFR
CC2_CC31IC
F194H/CAH
ESFR
User’s Manual
CC12_X8, V2.1
17-35
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
17.10
External Input Signal Requirements
The external input signals of a CAPCOM unit are sampled by the CAPCOM logic based
on the module clock and the basic operation mode (staggered or non-staggered mode).
To assure that a signal level is recognized correctly, its high or low level must be held
active for at least one complete sampling period.
The duration of a sampling period is one module clock cycle in non-staggered mode, and
8 module clock cycles in staggered mode. To recognize a signal transition, the signal
needs to be sampled twice. If the level of the first sampling is different to the level
detected during the second sampling, a transition is recognized. Therefore, a minimum
of two sampling periods are required for the sampling of an external input signal. Thus,
the maximum frequency of an input signal must not be higher than half the module clock
frequency in non-staggered mode, and a 1/16th of the module clock frequency in
staggered mode.
Table 17-5 summarizes the requirements and limits for external input signals.
Table 17-5
CAPCOM External Input Signal Limits
Non-Staggered Mode
fCC/2
Minimum Input Signal Level 1/fCC
Staggered Mode
fCC/16
8/fCC
Maximum Input Frequency
Duration
In order to use an external signal as a count or capture input, the port pin to which it is
connected must be configured as input.
Note: For example for test purposes a pin used as a count or capture input may be
configured as output. Software or an other peripheral may control the respective
signal and thus trigger count or capture events.
In order to cause a compare output signal to be seen by the external world, the
associated port pin must be configured as output. Compare output signals can either
directly switch the port latch, or the output of the CCx_OUT latch is used as an alternate
output function of a port.
User’s Manual
CC12_X8, V2.1
17-36
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
17.11
Interfaces of the CAPCOM Units
The CAPCOM units CAPCOM1 (see Figure 17-14) and CAPCOM2 (see Figure 17-15)
are connected to their environment in different ways.
Internal Connections
The overflow/underflow signal T6OUF of GPT2 timer T6 is connected to the CAPCOM
units, providing an optional clock source for the CAPCOM timers.
The 18 interrupt request lines of each CAPCOM unit are connected to the interrupt
control block.
Note: The input lines from Port 2, connected with the CAPCOM1 unit, can also be used
as individual external interrupt inputs.
External Connections
The capture/compare signals of both CAPCOM units are connected with input/output
ports of the XC167. Depending on the selected direction, these ports may provide
capture trigger signals from the external system or issue compare output signals to
external circuitry.
Note: Capture trigger signals may also be derived from output pins. In this case,
software can generate the trigger edges, for example.
Timers T0 and T7 can be clocked by an external signal. CAPCOM2’s timer input signal
T7IN shares a port pin with CAPCOM1’s input/output pin CC15IO (see Figure 17-15).
Operations in both CAPCOM units can so be combined:
•
•
the CAPCOM1 compare output can be used to clock CAPCOM2 timer T7, or
the CAPCOM2 count input signal can be recorded by a CAPCOM1 capture function.
User’s Manual
CC12_X8, V2.1
17-37
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
System
Control
Unit (SCU)
fCC
CC0IO
CC1DIS
CC1IO
P6.0/CC0IO
P6.1/CC1IO
CC2IO
GPT12
Unit
T6OUF
P6.2/CC2IO
CC3IO
CC4IO
T0IRQ
Port P6
Control
CC5IO
T1IRQ
P6.6/CC6IO
CC7IO
CC1IRQ
P6.4/CC4IO
P6.5/CC5IO
CC6IO
CC0IRQ
P6.3/CC3IO
P6.7/CC7IO
CC2IRQ
CC8IO
CC3IRQ
CC4IRQ
CC5IRQ
CC6IRQ
Interrupt
Control
CC7IRQ
CAPCOM1
Module
CC9IO
CC9IRQ
CC13IO
CC12IRQ
P2.10/CC10IO
CC11IO
CC8IRQ
CC11IRQ
P2.9/CC9IO
CC10IO
CC12IO
CC10IRQ
P2.8/CC8IO
Port P2
Control
P2.11/CC11IO
P2.12/CC12IO
P2.13/CC13IO
CC14IO
P2.14/CC14IO
CC15IO
P2.15/T7IN/
CC15IO
CC13IRQ
CC14IRQ
T0IN
CC15IRQ
Port P3
Control
Alternate
Input Select
P3.0/T0IN
External
Interrupt
Inputs EXnIN
Alternate External
Interrupt Input
MCA05430
Figure 17-14 CAPCOM1 Unit Interfaces
User’s Manual
CC12_X8, V2.1
17-38
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Units
System
Control
Unit (SCU)
fCC
CC16IO
CC2DIS
CC17IO
P9.0/CC16IO
P9.1/CC17IO
CC18IO
GPT12
Unit
T6OUF
CC19IO
Port P9
Control
CC20IO
T7IRQ
CC21IO
CC22IO
CC17IRQ
CC23IO
CC18IRQ
P9.5/CC21IO
CC20IRQ
Interrupt
Control
P1L.7/CC22IO
P1H.0/CC23IO
CC24IO
CC19IRQ
CAPCOM2
Module
CC25IO
CC21IRQ
CC26IO
CC22IRQ
CC27IO
Port P1
Control
CC28IO
CC25IRQ
CC29IO
CC26IRQ
CC27IRQ
CC28IRQ
CC30IO
P1H.4/CC24IO
P1H.5/CC25IO
P1H.6/CC26IO
P1H.7/CC27IO
CC23IRQ
CC24IRQ
P9.3/CC19IO
P9.4/CC20IO
T8IRQ
CC16IRQ
P9.2/CC18IO
P7.4/CC28IO
Port P7
Control
CC31IO
P7.5/CC29IO
P7.6/CC30IO
P7.7/CC31IO
CC29IRQ
CC30IRQ
T7IN
CC31IRQ
Port P2
Control
P2.15/T7IN/
CC15IO
ADC
Injection
Trigger
MCA05431
Figure 17-15 CAPCOM2 Unit Interfaces
User’s Manual
CC12_X8, V2.1
17-39
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18
Capture/Compare Unit 6 (CAPCOM6)
The CAPCOM6 unit is made up of a Timer T12 Block with three capture/compare
channels and a Timer T13 Block with one compare channel. The T12 channels can
independently generate PWM signals or accept capture triggers, or they can jointly
generate control signal patterns to drive AC-motors or inverters. Special operating
modes support the control of Brushless DC-motors using Hall sensors or Back-EMF
detection. Furthermore, block commutation and control mechanisms for multi-phase
machines are supported.
Data Registers
Control Registers
System Registers
Interrupt Control
T12
X
CMPSTAT
X
CCU6_IS
X
P1L
T12PR
X
CMPMODIF
X
CCU6_ISS
X
DP1L
E
T12DTC
X
TCTR0
X
CCU6_ISR
X
ALTSEL0P1L
E
CC60R
X
TCTR2
X
CCU6_INP
X
CC60SR
X
TCTR4
X
CCU6_IEN
X
CC61R
X
MODCTR
X
CC61SR
X
TRPCTR
X
CCU6_T12IC
E
CC62R
X
PSLR
X
CCU6_T13IC
E
CC62SR
X
MCMOUTS
X
CCU6_EIC
E
T13
X
MCMOUT
X
CCU6_IC
E
T13PR
X
MCMCTR
X
CC63R
X
T12MSEL
X
CC63SR
X
T12/T13
CAPCOM6 Timer T12/T13 Register
T12PR/T13PR CAPCOM6 T12/T13 Period Register
T12DTC
CAPCOM6 T12 Deadtime Control Reg.
TCTRx
CAPCOM6 Timer Control Register
T12MSEL
T12 Capture/Compare Mode Select Reg.
CC6xR
CAPCOM6 Capture/Compare Register
CC6xSR
CAPCOM6 Capt./Comp. Shadow Reg.
CMPSTAT
Capture/Compare State Register
CMPMODIF Capture/Comp. State Modification Reg.
MODCTR
Modulation Control Register
MCMOUT
Multi-Channel Mode Output Register
MCMOUTS Multi-Ch. Mode Output Shadow Reg.
MCMCTR
Multi-Channel Mode Control Register
TRPCTR
PSLR
IS
ISS/ISR
IEN
INP
T12IC/T13IC
CCU6_IC
CCU6_EIC
P1L/P1H
DP1L/DP1H
ALTSEL0P1x
SYSCON3
P1H
DP1H
E
ALTSEL0P1H
E
SYSCON3
E
Trap Control Register
Passive State Level Register
Interrupt Status Register
Interrupt Status Set/Reset Register
Interrupt Enable Register
Interrupt Node Pointer Register
CAPCOM6 Timer Interrupt Control Reg.
CAPCOM6 Interrupt Control Register
CAPCOM6 Error Interrupt Control Reg.
PORT1 Data Register
PORT1 Direction Control Register
PORT1 Alternate Outp. Select Reg. 0
System Control Reg. 3 (Per. Mgmt.)
mc_capcom60100_registers.vsd
Figure 18-1 SFRs Associated with the CAPCOM6 Unit
User’s Manual
CAPCOM6_X, V2.1
18-1
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
A rich set of status bits, synchronized updating of parameter values via shadow
registers, and flexible generation of interrupt request signals provide means for efficient
software-control.
Timer 12 Block Features
•
•
•
•
•
•
•
•
•
Three capture/compare channels, each channel can be used either as capture or as
compare channel
Generation of a three-phase PWM supported (six outputs, individual signals for
highside and lowside switches)
16-bit resolution, maximum count frequency = peripheral clock
Dead-time control for each channel to avoid short-circuits in the power stage
Concurrent update of the required T12/T13 registers
Center-aligned and edge-aligned PWM can be generated
Single-shot mode supported
Many interrupt request sources
Hysteresis-like control mode
Timer 13 Block Features
•
•
•
•
•
One independent compare channel with one output
16-bit resolution, maximum count frequency = peripheral clock
Can be synchronized to T12
Interrupt generation at period-match and compare-match
Single-shot mode supported
Additional Features
•
•
•
•
•
•
•
•
Block commutation for Brushless DC-drives implemented
Position detection via Hall-sensor pattern
Hall-Effect noise filter
Automatic rotational speed measurement for block commutation
Integrated error handling
Fast emergency stop without CPU load via external signal (CTRAP)
Control modes for multi-channel AC-drives
Output levels can be selected and adapted to the power stage
User’s Manual
CAPCOM6_X, V2.1
18-2
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Module Kemel
Compare
Channel 3
Compare
Interrupt
Control
1
3+3
2
2
2
Trap Input
T13
Output Select
Start
Trap
Control
Hall Input
1
Multichannel
Control
Output Select
Channel 2
DeadTime
Control
Compare
1
Compare
Clock
Control
Channel 1
Compare
T12
1
Capture
Address
Decoder
Channel 0
3
1
CTRAP
CCPOS2
CCPOS1
CCPOS0
CC62
COUT62
CC61
COUT61
CC60
COUT60
COUT63
T13RH
T12HR
Input / Output Control
Port Control
MCB05506
Figure 18-2 CAPCOM6 Block Diagram
The Timer T12 can work in capture and/or compare mode for its three channels. The
modes can also be combined. The Timer T13 can work in compare mode only. The multichannel control unit generates output patterns which can be modulated by T12 and/or
T13. The modulation sources can be selected and combined for the signal modulation.
User’s Manual
CAPCOM6_X, V2.1
18-3
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.1
Timer T12 Block
The timer T12 block is the main unit to generate the 3-phase PWM. A 16-bit counter is
connected to 3 channel registers via comparators, which generate a signal when the
counter contents match one of the channel register contents. A variety of control
functions facilitate the adaptation of the T12 structure to different application needs.
Besides the 3-phase PWM generation, the T12 block offers options for individual
compare and capture functions, as well as dead-time control and hysteresis-like
compare mode.
State Bits
Capture/Compare
Channel 60
Timer T12
Logic
Ext.
Inputs
CC60ST
Capture/Compare
Channel 61
CC61ST
Capture/Compare
Channel 62
CC62ST
To Dead-Time
Control
and Output
Modulation
Input and Control/Status Logic
MCA05507
Figure 18-3 Overview Diagram of the Timer T12 Block
Figure 18-4 shows a detailed block diagram of Timer T12. It receives its input clock, fT12,
from the module clock fCC6 via a programmable prescaler and an optional 1/256 divider.
These options are controlled via bitfields T12CLK and T12PRE (see Table 18-1). T12
can count up or down, depending on the selected operation mode. A direction flag,
CDIR, indicates the current counting direction.
Via a comparator, T12 is connected to a Period Register, T12PR. This register
determines the maximum count value for T12. In Edge-Aligned mode, T12 is reset to
0000H after it has reached the period value. In Center-Aligned mode, the count direction
of T12 is set from ‘up’ to ‘down’ after it has reached the period value (please note that in
this mode, T12 exceeds the period value by one before counting down). In both cases,
signal T12_PM (T12 Period Match) is generated. The Period Register receives a new
period value from its Shadow Period Register, T12PS, which is loaded via software. The
transfer of a new period value from the shadow register into T12PR (see Section 18.8)
is controlled via the ‘T12 Shadow Transfer’ control signal, T12_ST. The generation of
this signal depends on the operating mode and on control bit STE12. Providing a shadow
register for the period value as well as for other values related to the generation of the
PWM signal facilitates a concurrent update by software for all relevant parameters.
User’s Manual
CAPCOM6_X, V2.1
18-4
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Two further signals indicate whether the counter contents are equal to 0000H (T12_ZM)
or 0001H (T12_OM). These signals control the counting and switching behavior of T12.
The basic operating mode of T12, either Edge-Aligned mode (Figure 18-5) or CenterAligned mode (Figure 18-6), is selected via bit CTM. A Single-Shot control bit, T12SSC,
enables an automatic stop of the timer when the current counting period is finished (see
Figure 18-7 and Figure 18-8).
T12STR
T12RR
T12STD CTM T12RS
T12R
fCC6
n
T12CLK
256
MUX
fT12
T12
Control
& Status
Counter Register
T12
CDIR
STE12
T12RES
T12SSC
T12PRE
= 0000H
= 0001H
Comp.
=?
T12_ZM
T12_OM
T12_PM
T12_SSEP
Read-Only
Write-Only
Period Register
T12PR
Period Shadow
Register T12PR
T12_ST
MCA05508
Figure 18-4 Timer T12 Logic and Period Comparators
The start or stop of T12 is controlled by the Run bit, T12R. This control bit can be set by
software via the associated set/reset bits T12RS or T12RR, or it is reset by hardware
according to preselected conditions.
Timer T12 can be cleared via control bit T12RES. Setting this write-only bit does only
clear the timer contents, but has no further effects, for example, it does not stop the timer.
The generation of the T12 shadow transfer control signal, T12_ST, is enabled via bit
STE12. This bit can be set or reset by software indirectly through its associated set/reset
control bits T12STR and T12STD.
Note: The control registers to select the T12 operating mode are described in
Section 18.3.
User’s Manual
CAPCOM6_X, V2.1
18-5
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Register T12 represents the counting value of Timer T12. It can only be written while
Timer T12 is stopped. Write actions while T12 is running are not taken into account.
Register T12 can always be read by software.
CCU6_T12
Timer T12 Count Register
15
14
13
12
11
XSFR (E890H/--)
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
T12CV
rwh
Field
Bits
Type
Description
T12CV
[15:0]
rwh
T12 Count Value
Represents the 16-bit count value of Timer T12
Register T12PR contains the period value for Timer T12. The period value is compared
to the actual count value of T12 and the resulting actions depend on the defined counting
rules.
CCU6_T12PR
Timer T12 Period Register
15
14
13
12
11
XSFR (E892H/--)
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
T12PV
rwh
Field
Bits
Type
Description
T12PV
[15:0]
rwh
T12 Period Value
When T12 equals value T12PV a period-match is
triggered. When reaching this value, Timer T12 is set
to zero (edge-aligned mode) or changes its count
direction to down counting (center-aligned mode).
This register has a shadow register (using the same address) and the shadow transfer
is controlled by bit STE12. A read action by SW delivers the value which is currently used
for the period compare, whereas a write action targets the shadow register. The shadow
register structure allows concurrent updating of all T12-related values.
User’s Manual
CAPCOM6_X, V2.1
18-6
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.1.1
Timer T12 Operation
The input clock fT12 of Timer T12 is derived from the module clock fCC6 through a
programmable prescaler and an optional 1/256 divider. The resulting prescale factors
are listed in Table 18-1. The prescaler of T12 is reset while T12 is not running to ensure
reproducible timings and delays.
Table 18-1
Timer T12 Input Clock Options
T12CLK
Resulting Input Clock
Prescaler Off (T12PRE = 0)
Resulting Input Clock
Prescaler On (T12PRE = 1)
000B
fCC6
fCC6/2
fCC6/4
fCC6/8
fCC6/16
fCC6/32
fCC6/64
fCC6/128
fCC6/256
fCC6/512
fCC6/1024
fCC6/2048
fCC6/4096
fCC6/8192
fCC6/16384
fCC6/32768
001B
010B
011B
100B
101B
110B
111B
The period of the timer is determined by the value in the period Register T12PR and by
the timer mode.
In Edge-Aligned mode, the timer period is:
T12PER = <Period-Value> + 1; in T12 clocks (fT12)
(18.1)
In Center-Aligned mode, the timer period is:
T12PER = (<Period-Value> + 1) × 2; in T12 clocks (fT12)
(18.2)
While Timer T12 is running, write accesses to the count register T12 are not taken into
account. If T12 is stopped and the Dead-Time counters are 0, write actions to register
T12 are immediately taken into account.
User’s Manual
CAPCOM6_X, V2.1
18-7
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
As described above, T12 can operate in Edge-Aligned mode or Center-Aligned mode. In
both modes, a certain set of ‘counting rules’ determine the behavior of the T12 counter.
The counting rules lead to a behavior in Edge-Aligned mode as illustrated in
Figure 18-5.
In the Center-Aligned mode (T12 counts up and down), the counting rules lead to the
behavior shown in Figure 18-6.
T12 in Edge-Aligned Mode:
•
With the next clock of fT12 the counter is reset to zero when a Period-Match is
detected. The counting direction is always upwards (CDIR = 0).
fT12
Period
Value
T12 Count
Period Zero
Match Match
Zero
Up
Up
Value n+1
Value n+2
CDIR
CC6x
Shadow Transfer
MCT05509
Figure 18-5 T12 Operation in Edge-Aligned Mode
User’s Manual
CAPCOM6_X, V2.1
18-8
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
T12 in Center-Aligned mode:
•
•
•
With the next clock of fT12 the count direction is set to counting up (CDIR = 0) when
the counter reaches 0001H while counting down.
With the next clock of fT12 the count direction is set to counting down (CDIR = 1) when
the Period-Match is detected while counting up.
With the next clock of fT12 the counter counts up while CDIR = 0 and it counts down
while CDIR = 1.
Note: Bit CDIR changes with the next timer clock after the one-match or the periodmatch. Therefore, the timer continues counting in the previous direction for one
cycle before actually changing its direction (see Figure 18-6).
fT12
<Period Value> + 1
Period
Value
Zero
Match
T12 Count
Period
Match
Period
Match
Zero
Down
Up
Up
Down
Value n
Value n+1
Value n+1
Value n+2
CDIR
CC6x
Shadow Transfer
Shadow Transfer
MCT05510
Figure 18-6 T12 Operation in Center-Aligned Mode
User’s Manual
CAPCOM6_X, V2.1
18-9
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
T12 Shadow Transfer Signal, T12_ST
A special shadow transfer signal (T12_ST) can be generated to facilitate updating the
period and compare values synchronously to the operation of T12. The generation of this
signal is requested by software via bit STE12 (set by writing 1 to the write-only bit
T12STR, cleared by writing 1 to the write-only bit T12STD).
If requested (STE12 = 1), signal T12_ST is generated when:
•
•
•
a Period-Match is detected while counting up, or
the counter reaches 0001H while counting down, or
timer T12 is not running (T12R = 0)
When signal T12_ST is active, a shadow register transfer is triggered with the next cycle
of the T12 clock. A new period value is loaded from the shadow register into the actual
period register T12PR, and new compare values are transferred from their shadow
registers into the actual compare registers (see Section 18.1.2). With the shadow
register transfer bit STE12 is automatically cleared.
T12 Start/Stop and Reset Control
Timer T12 is counting while bit T12R is set. Software can control the timer’s count
operation via bit T12R (set by writing 1 to the write-only bit T12RS, cleared by writing 1
to the write-only bit T12RR). T12R can also be cleared by hardware in Single Shot mode.
Software can clear timer T12 by writing 1 to the write-only bit T12RES. This operation
only sets the timer contents to 0000H. No further actions will take place, for example, the
timer run bit is not cleared.
User’s Manual
CAPCOM6_X, V2.1
18-10
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Single-Shot Mode
The run bit T12R is also influenced by hardware in Single-Shot mode. This mode is
enabled through bit T12SSC. When this bit is set, the timer will stop when the current
timer period is finished. In Edge-Aligned mode, this is when the timer is cleared to 0000H
after having reached the period value. In Center-Aligned mode, the period is finished
when the timer has counted down to 0000H. See Figure 18-7 and Figure 18-8.
fT12
Compare-Match
Period
Value
Compare
Value
Zero
T12 Count
CC6xST
T12SSC
MCT05511
Figure 18-7 Single-Shot Operation in Edge-Aligned Mode
fT12
Compare-Match
Compare-Match
T12 Count
Period
Value
Compare
Value
Zero
CC6xST
T12SSC
MCT05512
Figure 18-8 Single-Shot Operation in Center-Aligned Mode
User’s Manual
CAPCOM6_X, V2.1
18-11
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.1.2
T12 Compare Modes
Associated with Timer T12 are three individual capture/compare channels, which can
perform compare or capture operations with regard to the contents of the T12 counter.
The capture functions are explained in Section 18.1.4.
In Compare Mode (see Figure 18-9), the three channels can operate either
independently as individual channels, or generate a three-phase PWM pattern.
CDIR
Counter Register
T12
fT12
&
&
CM_61_DN
CM_61_UP
Compare
Match CM_61
Comp.
=?
Comp.
=?
Comp.
=?
Compare
Match CM_62
Compare
Match CM_60
Compare Register
CC60R
Compare Register
CC61R
Compare Register
CC62R
T12_ST
Compare Shadow
Register CC60SR
Compare Shadow
Register CC61SR
Compare Shadow
Register CC62SR
MCA05513
Figure 18-9 T12 Channel Comparators
Each channel is connected to the T12 counter register via its individual equal-to
comparator, which generates a match signal when the contents of the counter matches
the contents of the associated compare register. Each channel consists of the
comparator and a double register structure - the actual compare register CC6xR, feeding
the comparator, and an associated shadow register CC6xSR, which is preloaded by
software and transferred into the compare register when signal T12 shadow transfer,
T12_ST, gets active. Providing a shadow register for the compare value as well as for
other values related to the generation of the PWM signal facilitates a concurrent update
by software for all relevant parameters (see also Section 18.8).
User’s Manual
CAPCOM6_X, V2.1
18-12
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Associated with each channel is a State Bit, CC6xST, which holds the status of the
compare (or capture) operation (see Figure 18-10).
Rising Edge
Falling Edge
T12R
CM_60
CDIR
Set/Reset
Control
Logic
CC60ST
Compare
State Bit
CC60ST
CC60ST
CC60ST Change
MCC60S/R MSEL60
Rising Edge
Falling Edge
CM_61
Set/Reset
Control
Logic
Rising Edge
Falling Edge
T12_ZM
T12_SSEP
Compare
State Bit
CC62ST
CC62ST Change
MCC62S/R MSEL62
To Interrupt
Control
CC61ST
CC61ST Change
Set/Reset
Control
Logic
DTC0_IN
CC61ST
Compare
State Bit
CC61ST
MCC61S/R MSEL61
CM_62
To Interrupt
Control
DTC1_IN
To Interrupt
Control
CC62ST
CC62ST
DTC2_IN
MCB05514
Figure 18-10 Compare State Bits Block Diagram for Compare Mode
The inputs to the set/reset logic for the CC6xST bits are the timer direction (CDIR), the
timer run bit (T12R), the timer zero-match signal (T12_ZM), the end-of-single-shot mode
signal (T12_SSEP), and the actual individual compare-match signals CM_6x as well as
the mode control bits, MSEL6x. In addition, each state bit can be set or reset by software
via the appropriate set and reset bits, MCC6xS and MCC6xR.
Note: In Hall Sensor mode, additional inputs are taken into account (see Section 18.5).
User’s Manual
CAPCOM6_X, V2.1
18-13
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
A hardware-modification of a State Bit CC6xST is only possible while Timer T12 is
running (T12R = 1). If this is the case, the following rules apply for setting and resetting
the State Bits in Compare Mode (illustrated in Figure 18-11 and Figure 18-12):
A State Bit CC6xST is set to 1
•
•
with the next T12 clock (fT12) after a compare-match when T12 is counting up
(i.e., when the counter is incremented above the compare value);
with the next T12 clock (fT12) after a zero-match AND a parallel compare-match when
T12 is counting up.
A State Bit CC6xST is reset to 0
•
•
with the next T12 clock (fT12) after a compare-match when T12 is counting down
(i.e., when the counter is decremented below the compare value);
with the next T12 clock (fT12) after a zero-match AND NO parallel compare-match
when T12 is counting up.
fT12
Compare-Match
Compare-Match
Period
Value
Compare
Value
Zero
T12 Count
CC6xST
MCT05515
Figure 18-11 Compare Operation, Edge-Aligned Mode
fT12
Compare-Match
Compare-Match
T12 Count
Period
Value
Compare
Value
Zero
CC6xST
MCT05516
Figure 18-12 Compare Operation, Center-Aligned Mode
User’s Manual
CAPCOM6_X, V2.1
18-14
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Figure 18-13 illustrates some more examples for compare waveforms. It is important to
note that in these examples, it is assumed that some of the compare values are changed
while the timer is running. This change is performed via a software preload of the
Shadow Register, CC6xSR. The value is transferred to the actual Compare Register
CC6xR with the T12 Shadow Transfer signal, T12_ST, which is assumed to be enabled.
fT12
Period
Value = 5
T12 Count
Zero
Down
Up
Down
Up
Value n
Value n+1
Value n+2
Value n+3
CC6x = 2
CC6x = 2
CC6x = 1
CC6x = 1
CC6x = 1
CC6x = 0
CC6x = 0
CC6x = 0
CC6x = 3
CC6x = 3
CC6x = 3
CC6x = 3
CC6x = 4
CC6x = 4
CC6x = 4
CC6x = 4
CC6x = 5
CC6x = 5
CC6x = 5
CC6x = 5
CC6x = 3
CC6x = 6
CC6x = 6
CC6x = 6
CDIR
CC6x
a)
b)
c)
d)
e)
f)
MCT05517
Figure 18-13 Compare Waveform Examples
Example b) illustrates the transition to a duty cycle of 100%. First, a compare value of
0001H is used, then changed to 0000H. Please note that a low pulse with the length of
one T12 clock is still produced in the cycle where the new value 0000H is in effect; this
pulse originates from the previous value 0001H. In the following timer cycles, the State
Bit CCxST remains at 1, producing a 100% duty cycle signal. In this case, the compare
rule ‘zero-match AND compare-match’ is in effect.
User’s Manual
CAPCOM6_X, V2.1
18-15
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Example f) shows the transition to a duty cycle of 0%. The new compare value is set to
<Period-Value> + 1, and the State Bit CC6ST remains cleared.
Figure 18-14 illustrates an example for the waveforms of all three channels. With the
appropriate dead-time control and output modulation, a very efficient 3-phase PWM
signal can be generated.
Period
Value
CC60R
CC62R
T12 Count
Down
Up
Down
Up
CC61R
Zero
Down
CDIR
Shadow
Transfer
CC60ST
CC61ST
CC62ST
MCT05518
Figure 18-14 Three-Channel Compare Waveforms
User’s Manual
CAPCOM6_X, V2.1
18-16
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Compare Mode Output Path
Figure 18-15 gives an overview on the signal path from a channel State Bit to its output
pin in its simplest form. As illustrated, a user has a variety of controls to determine the
desired output signal switching behavior in relation to the current state of the State Bit,
CC6xST. Please refer to Chapter 18.7 for details on the output modulation.
State Selection
CC6xPS
CC6xST
& DTRx
CC6xST
State Bit
CC6xST
Dead-Time
Generation
Output Modulation
T12
MODENx
PSLx
CC6x_O
Level
Select
COUT6x_O
Level
Select
CC6x
To Output Pins
DTCx_IN
CC6xST
& DTRx
COUT6xPS
COUT6x
T12
PSLy
MODENy
MCA05519
Figure 18-15 Compare Mode Simplified Output Path Diagram
User’s Manual
CAPCOM6_X, V2.1
18-17
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Compare Mode Registers
In compare mode, registers CC6xR (x = 0, 1, 2) are the actual compare registers for T12.
The values stored in CC6xR are compared (all three channels in parallel) to the count
value of T12. Registers CC6xR can only be read by SW, the modification of the value is
done by a shadow register transfer from the corresponding shadow registers CC6xSR.
These registers can be read and written by SW.
In capture mode, the current value of the T12 counter register is captured into registers
CC6xR or CC6xSR when the corresponding capture event is detected (depending on the
selected mode).
CCU6_CC60R
Channel 0 Capt./Comp. Reg.
15
14
13
12
11
10
XSFR (E898H/--)
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
CC60V
rh
CCU6_CC61R
Channel 1 Capt./Comp. Reg.
15
14
13
12
11
10
XSFR (E89AH/--)
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
CC61V
rh
CCU6_CC62R
Channel 2 Capt./Comp. Reg.
15
14
13
12
11
10
XSFR (E89CH/--)
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
CC62V
rh
Field
Bits
Type
Description
CC6xV
(x = 0, 1, 2)
[15:0]
rh
Channel x Compare Value
In compare mode, the bitfields CC6xV contain the
values that are compared to the T12 count value. In
capture mode, the captured value of T12 can be read
from these registers.
User’s Manual
CAPCOM6_X, V2.1
18-18
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
CCU6_CC60SR
Ch. 0 Capt./Cmp. Shadow Reg. XSFR (E8A0H/--)
15
14
13
12
11
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
CC60S
rwh
CCU6_CC61SR
Ch. 1 Capt./Cmp. Shadow Reg. XSFR (E8A2H/--)
15
14
13
12
11
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
CC61S
rwh
CCU6_CC62SR
Ch. 2 Capt./Cmp. Shadow Reg. XSFR (E8A4H/--)
15
14
13
12
11
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
CC62S
rwh
Field
Bits
Type
Description
CC6xS
(x = 0, 1, 2)
[15:0]
rwh
Shadow Register for Channel x Compare Value
In compare mode, the contents of bitfields CC6xS
are transferred to bitfields CC6xV in registers CC6xR
during a shadow transfer. In capture mode, the
captured value of T12 can be read from these
registers.
User’s Manual
CAPCOM6_X, V2.1
18-19
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Register T12MSEL contains control bits to select the capture/compare functionality of
the three channels of Timer T12.
CCU6_T12MSEL
T12 Mode Select Register
15
14
13
12
11
XSFR (E8C6H/--)
10
9
8
7
Reset Value: 0000H
6
5
4
3
2
1
D
BYP
HSYNC
MSEL62
MSEL61
MSEL60
rw
rw
rw
rw
rw
0
Field
Bits
Type
Description
DBYP
15
rw
Delay Bypass
DBYP controls whether the source signal for the
sampling of the Hall input pattern (selected by
HSYNC) is delayed by the Dead-Time Counter
DTC0.
0
The bypass is not active. DTC0 is generating a
delay after the source signal becomes active.
1
The bypass is active. DTC0 is not used for a
delay.
HSYNC
[14:12] rw
Hall Synchronization
Bitfield HSYNC defines the source for the sampling
of the Hall input pattern and the comparison to the
current and the expected Hall pattern bitfields. In all
modes, a trigger by SW by writing a 1 to bit SWHC is
possible. See Table 18-10.
MSEL62
MSEL61
MSEL60
[11:8],
[7:4],
[3:0]
rw
Capture/Compare Mode Selection
These bitfields select the operating mode of the three
T12 capture/compare channels. Each channel (x = 0,
1, 2) can be programmed individually for one of these
modes (except for Hall Sensor Mode). See
Table 18-2.
User’s Manual
CAPCOM6_X, V2.1
18-20
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Table 18-2
Capture/Compare Modes Overview
MSEL6x
Selected Operating Mode
0000B
Compare outputs disabled, pins CC6x and COUT6x can be used for IO.
0001B
Compare output on pin CC6x, pin COUT6x can be used for IO.
0010B
Compare output on pin COUT6x, pin CC6x can be used for IO.
0011B
Compare output on pins COUT6x and CC6x.
01XXB
Double-Register Capture modes, see Chapter 18.1.4 and Table 18-3.
1000B
Hall Sensor Mode, see Chapter 18.5 and Table 18-10. In order to properly
enable this mode, all three MSEL6x fields have to be programmed to Hall
Sensor mode.
1001B
Hysteresis-like mode, see Chapter 18.1.5 and Table 18-10.
101XB
11XXB
Multi-Input Capture modes, see Chapter 18.1.4 and Table 18-4.
Note: Channel status information is available through the channel state (modification)
registers, described in Section 18.3.
User’s Manual
CAPCOM6_X, V2.1
18-21
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.1.3
Dead-Time Generation
The generation of (complementary) signals for the highside and the lowside switches of
one power inverter phase is based on the same compare channel. For example, if the
highside switch should be active while the T12 counter value is above the compare value
(State Bit = 1), then the lowside switch should be active while the counter value is below
the compare value (State Bit = 0).
In most cases, the switching behavior of the connected power switches is not
symmetrical concerning the switch-on and switch-off times. A general problem arises if
the time for switch-on is smaller than the time for switch-off of the power device. In this
case, a short-circuit can occur in the inverter bridge leg, which may damage the
complete system. In order to solve this problem by HW, this capture/compare unit
contains a programmable Dead-Time Generation Block, which is able to delay the
passive to active edge of the switching signals (the active to passive edge is not
delayed).
The Dead-Time Generation Block, illustrated in Figure 18-16, is built in a similar way for
all three channels of T12. Any change of a CC6xST bit triggers the corresponding DeadTime Counter, a single-shot 6-bit down counter which is clocked with the same input
clock as T12 (fT12). A trigger pulse DTCx_IN, activated by the change of the State Bit
CC6xST, leads to a reload of the dead-time counter with the value DTM stored in register
T12DTC and starts the counter.
Reload Value
DTM
DTC0_IN
DTE0
DTC1_IN
&
DTE1
6-bit
Down Counter
DTC2_IN
&
DTE2
6-bit
Down Counter
&
6-bit
Down Counter
DTR2
fT12
DTRES
DTR1
DTR0
MCB05520
Figure 18-16 Dead-Time Generation Block Diagram
User’s Manual
CAPCOM6_X, V2.1
18-22
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
While counting down, the output line DTRx is 0. Thus, the reload value determines the
length of the low phase (the passive state) of the output signal, and therefore the delay
of the 0-to-1 transition of the State Bit outputs. The active state of the output signal is
represented by a 1.
The programmable reload value DTM applies to all three channels.
When the counter reaches zero, the counter is stopped and output line DTRx is set to 1.
While DTRx is 0 both outputs are forced into passive state. While DTRx is 1 the outputs
can go to active state.
Each of the three dead-time counters has its individual enable control bit, DTEx, for the
trigger input, DTCx_IN. A reload of a counter is only possible while the counter is not
running. This avoids a possible retriggering of the dead-time if a change in the State Bit
CC6xST is detected. Figure 18-17 illustrates the waveforms of the dead-time generation
(passive state = 0). The associated registers are detailed below.
T12 Count
Compare
CC6xST
CC6xST
DTCx_IN
Down
Counter
DTRx
CC6xST &
DTRx
CC6xST &
DTRx
MCT05521
Figure 18-17 Dead-Time Generation Waveforms
User’s Manual
CAPCOM6_X, V2.1
18-23
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Register T12DTC controls the dead-time generation for the T12 compare channels.
Each channel can be independently enabled/disabled for dead-time generation. If
enabled, the transition from passive state to active state is delayed by the value defined
by bitfield DTM.
CCU6_T12DTC
T12 Dead-Time Control Reg.
15
-
14
13
12
DTR DTR DTR
2
1
0
rh
rh
rh
11
10
XSFR (E894H/--)
9
8
DTE DTE DTE
2
1
0
-
rw
rw
rw
Reset Value: 0000H
7
6
5
4
3
2
-
-
DTM
-
-
rw
1
0
Field
Bits
Type
Description
DTR2
DTR1
DTR0
14
13
12
rh
Dead Time Run Indication Flags
Indicate the status of the dead-time generation for
each corresponding compare channel (0, 1, 2)
0
The dead-time counter is stopped
1
The dead-time counter is running (delay is
active)
DTE2
DTE1
DTE0
10
9
8
rw
Dead-Time Generation Enable Bits
Enable/disable the dead-time generation for each
corresponding compare channel (0, 1, 2)
0
Dead-time generation is disabled
1
Dead-time generation is enabled
DTM
[5:0]
rw
Dead-Time Value
DTM specifies the programmable delay between
switching from the passive state to the active state of
the selected outputs.
Note: The Dead-Time Counters can be cleared by setting bit DTRES in register TCTR4.
User’s Manual
CAPCOM6_X, V2.1
18-24
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.1.4
T12 Capture Modes
Each of the three channels of the T12 Block can also be used to capture T12 time
information in response to an external signal.
There are a number of different modes for capture operation. In all modes, both of the
registers of a channel are used. This can reduce the interrupt rate to the CPU, as it needs
to react only to every second event. The selection of the capture modes is done via the
MSEL6x bitfields in register T12MSEL and can be selected individually for each of the
channels.
Table 18-3
Capture Modes Overview
MSEL6x
Mode
Pin
Active Edge
CC6nSR Stored in T12 Stored in
0100B
1
CC6x
Rising
–
CC6xR
CC6x
Falling
–
CC6xSR
0101B
2
CC6x
Rising
CC6xR
CC6xSR
0110B
3
CC6x
Falling
CC6xR
CC6xSR
0111B
4
CC6x
Any
CC6xR
CC6xSR
Figure 18-18 illustrates Capture Mode 1. When a rising edge (0-to-1 transition) is
detected at the corresponding input pin CC6x, the current contents of Timer T12 are
captured into register CC6xR. When a falling edge (1-to-0 transition) is detected at pin
CC6x, the contents of Timer T12 are captured into register CC6xSR.
fT12
MSEL6x
CC6x
Counter Register
T12
MSEL6x
Rising
Edge
Falling
Select
Detect
Set
State Bit
CC6xST
Register CC6xR
Shadow Register
CC6xSR
To Interrupt Logic
MCB05522
Figure 18-18 Capture Mode 1 Block Diagram
User’s Manual
CAPCOM6_X, V2.1
18-25
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Capture Modes 2, 3 and 4 are shown in Figure 18-19. They differ only in the active edge
causing the capture operation. In each of the three modes, when the selected edge is
detected at the corresponding input pin CC6x, the current contents of the shadow
register CC6xSR are latched into register CC6xR, and the current Timer T12 contents
are captured in register CC6xSR (simultaneous transfer). The active edge is a rising
edge at pin CC6x for Capture Mode 2, a falling edge for Mode 3, and both, a rising or a
falling edge for Capture Mode 4, as shown in Table 18-3. These capture modes are very
useful in cases where there is little time between two consecutive edges of the input
signal.
Counter Register
T12
fT12
MSEL6x
CC6x
MSEL6x
Edge
Shadow Register
CC6xSR
Select
Detect
Set
State Bit
CC6xST
Register CC6xR
Rising
Falling
To Interrupt Logic
MCB05523
Figure 18-19 Capture Modes 2, 3 and 4 Block Diagram
User’s Manual
CAPCOM6_X, V2.1
18-26
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Five further capture modes are called Multi-Input Modes, as they use two different
external inputs, pin CC6x and pin CC6POSx.
fT12
MSEL6x
CC6x
Counter Register
T12
MSEL6x
Edge
Select
Detect
Set
State Bit
CC6xST
Set
Register CC6xR
Rising
Falling
CC6POSx
Shadow Register
CC6xSR
To Interrupt Logic
Edge
Select
Detect
MSEL6x
MSEL6x
MCB05524
Figure 18-20 Multi-Input Capture Modes Block Diagram
In each of these modes, the current T12 contents are latched in register CC6xR in
response to a selected event at pin CC6x, and in register CC6xSR in response to a
selected event at pin CC6POSx. The possible events can be opposite input transitions,
or the same transitions, or any transition at the two input pins. The different options are
detailed in Table 18-4.
In each of the various capture modes, the Channel State Bit, CC6xST, is set to 1 when
the selected capture trigger event at pin CC6x or CC6POSx has occurred. The State Bit
must be reset by software.
In addition, appropriate signal lines to the interrupt logic are activated, which can
generate an interrupt request to the CPU. Regardless of the selected active edge, all
edges detected at pin CC6x lead to the activation of the appropriate interrupt request line
(see also Section 18.9).
User’s Manual
CAPCOM6_X, V2.1
18-27
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Table 18-4
Multi-Input Capture Modes Overview
MSEL6x
Mode
Pin
Active Edge
T12 Stored in
1010B
5
CC6x
Rising
CC6xR
CCPOSx
Falling
CC6xSR
CC6x
Falling
CC6xR
CCPOSx
Rising
CC6xSR
CC6x
Rising
CC6xR
CCPOSx
Rising
CC6xSR
CC6x
Falling
CC6xR
CCPOSx
Falling
CC6xSR
CC6x
Any
CC6xR
CCPOSx
Any
CC6xSR
1011B
1100B
1101B
1110B
1111B
6
7
8
9
–
User’s Manual
CAPCOM6_X, V2.1
reserved (no capture or compare action)
18-28
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.1.5
Hysteresis-Like Control Mode
The hysteresis-like control mode (MSEL6x = 1001B) offers the possibility to switch off the
PWM output if the input CCPOSx becomes 0 by resetting bit CC6xST. This can be used
as a simple motor control feature by using a comparator indicating, e.g., overcurrent.
While CCPOSx = 0, the PWM outputs of the corresponding channel are driving their
passive levels. The setting of bit CC6xST is only possible while CCPOSx = 1.
CC6POSx
T12R CDIR
Edge
Detect
CM_6x
T12_ZM
T12_SSEP
Set/
Reset
Control
Logic
Bit CC6xST
+ Dead-Time
Generation
MCC6xS/R MSELx2
State
Select
Logic
CC6xO
COUT6xO
MCA05525
Figure 18-21 Hysteresis-Like Control Mode Logic
In this mode, the State Bit CC6xST is reset when pin CC6POSx shows a negative edge.
As long as input CC6POSx is 0, the outputs of the State Bit are in passive state. When
CC6POSx is at high level, the outputs can be in active state and are determined by bit
CC6xST (see Figure 18-10 for the state bit logic and Figure 18-15 for the output paths).
This mode can be used to introduce a timing-related behavior to a hysteresis controller.
A standard hysteresis controller detects if a value exceeds a limit and switches its output
according to the compare result. Depending on the operating conditions, the switching
frequency and the duty cycle are not fixed, but change permanently.
If (outer) time-related control loops based on a hysteresis controller (inner loop) should
be implemented, the outer loops show a better behavior if they are synchronized to the
inner loops. Therefore, the hysteresis-like mode can be used, which combines timerrelated switching with a hysteresis controller behavior. For example, in this mode, an
output can be switched on according to a fixed time base, but it is switched off as soon
as a falling edge is detected at input CCPOSx.
This mode can be used for standard PWM with overcurrent protection. As long as there
is no low level signal at pin CC6POSx, the output signals are generated in the normal
manner as described in the previous sections. Only if input CC6POSx shows a low level,
e.g. due to the detection of overcurrent, the outputs are shut off to avoid harmful stress
to the system.
User’s Manual
CAPCOM6_X, V2.1
18-29
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.2
Timer T13 Block
Timer T13 is implemented similarly to Timer T12, but only with one channel in compare
mode. A 16-bit up-counter is connected to a channel register via a comparator, which
generates a signal when the counter contents match the contents of the channel register.
A variety of control functions facilitate the adaptation of the T13 structure to different
application needs. In addition, T13 can be triggered synchronously to timer T12 events.
State Bit
Timer T13
Logic
Compare
Channel 63
CC63ST
Control/Status Logic
To Output
Modulation
MCA05526
Figure 18-22 Overview Diagram of the Timer T13 Block
Figure 18-23 shows a detailed block diagram of Timer T13. It receives its input clock,
fT13, from the module clock fCC6 via a programmable prescaler and an optional 1/256
divider. T13 can only count up (similar to the Edge-Aligned mode of T12).
Via a comparator, T13 is connected to a Period Register, T13PR. This register
determines the maximum count value for T13. When T13 reaches the period value,
signal T13_PM (T13 Period Match) is generated and T13 is reset to 0000H with the next
T13 clock edge. The Period Register receives a new period value from its Shadow
Period Register, T13PS, which is loaded via software. The transfer of a new period value
from the shadow register into T13PR is controlled via the ‘T13 Shadow Transfer’ control
signal, T13_ST. The generation of this signal depends on the associated control bit
STE13. Providing a shadow register for the period value as well as for other values
related to the generation of the PWM signal facilitates a concurrent update by software
for all relevant parameters (see also Section 18.8).
Another signal indicates whether the counter contents are equal to 0000H (T13_ZM).
A Single-Shot control bit, T13SSC, enables an automatic stop of the timer when the
current counting period is finished (see Figure 18-25).
User’s Manual
CAPCOM6_X, V2.1
18-30
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
T13STR T13TEC T13RR
T13STD T13TED T13RS
fCC6
n
256
MUX
fT13
T13R
T13
Control
& Status
Counter Register
T13
STE13
T13RES
T13SSC
T13CLK
T13PRE
= 0000H
Comp.
=?
T13_ZM
T13_PM
T13_ST
Read-Only
Period Register
T13PR
Write-Only
Period Shadow
Register T13PS
MCA05527
Figure 18-23 T13 Counter Logic and Period Comparators
The start or stop of T13 is controlled by the Run bit, T13R. This control bit can be set by
software via the associated set/reset bits T13RS or T13RR, or it is reset by hardware
according to preselected conditions.
Timer T13 can be cleared to 0000H via control bit T13RES. Setting this write-only bit only
clears the timer contents, but has no further effects, e.g., it does not stop the timer.
The generation of the T13 shadow transfer control signal, T13_ST, is enabled via bit
STE13. This bit can be set or reset by software indirectly through its associated set/reset
control bits T13STR and T13STD.
Two bitfields, T13TEC and T13TED, control the synchronization of T13 to Timer T12
events. T13TEC selects the trigger event, while T13TED determines for which T12 count
direction the trigger should be active.
Note: The T13 Period Register and its associated shadow register are located at the
same physical address. A write access to this address targets the Shadow
Register, while a read access reads from the actual period register.
User’s Manual
CAPCOM6_X, V2.1
18-31
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Register T13 represents the counting value of Timer T13. It can only be written while
Timer T13 is stopped. Write actions while T13 is running are not taken into account.
Register T13 can always be read by SW.
CCU6_T13
Timer T13 Count Register
15
14
13
12
11
XSFR (E8B0H/--)
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
T13CV
rwh
Field
Bits
Type
Description
T13CV
[15:0]
rwh
Timer T13 Count Value
Represents the 16-bit count value of Timer T13
Register T13PR contains the period value for Timer T13. The period value is compared
to the actual count value of T13 and T13 is reset when the two values match. This
register has a shadow register and the shadow transfer is controlled by bit STE13. A read
action by SW delivers the value which is currently used for the period compare, whereas
a write action targets the shadow register. The shadow register structure allows a
concurrent update of all T13-related values.
CCU6_T13PR
Timer T13 Period Register
15
14
13
12
11
XSFR (E8B2H/--)
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
T13PV
rwh
Field
Bits
Type
Description
T13PV
[15:0]
rwh
T13 Period Value
T13PV defines the count value for T13 which leads to
a Period-Match. When reaching this value, Timer
T13 is set to zero.
User’s Manual
CAPCOM6_X, V2.1
18-32
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.2.1
T13 Operation
The input clock fT13 of Timer T13 is derived from the module clock fCC6 through a
programmable prescaler and an optional 1/256 divider. The resulting prescale factors
are listed in Table 18-5. The prescaler of T13 is reset while T13 is not running to ensure
reproducible timings and delays.
Table 18-5
Timer T13 Input Clock Options
T13CLK
Resulting Input Clock
Prescaler Off (T13PRE = 0)
Resulting Input Clock
Prescaler On (T13PRE = 1)
000B
fCC6/1
fCC6/2
fCC6/4
fCC6/8
fCC6/16
fCC6/32
fCC6/64
fCC6/128
fCC6/256
fCC6/512
fCC6/1024
fCC6/2048
fCC6/4096
fCC6/8192
fCC6/16384
fCC6/32768
001B
010B
011B
100B
101B
110B
111B
The period of the timer is determined by the value in the period Register T13PR
according to the following formula:
T13PER = <Period-Value> + 1; in T13 clocks (fT13)
(18.3)
While Timer T13 is running, write accesses to the count register T13 are not taken into
account. If T13 is stopped, write actions to register T13 are immediately taken into
account.
As described above, T13 can only count up, comparable to the Edge-Aligned mode of
T12. This leads to very simple ‘counting rules’ for the T13 counter:
•
The counter is reset to zero with the next T13 clock edge if a Period-Match is
detected. The counting direction is always upwards.
The behavior of T13 is illustrated in Figure 18-24.
User’s Manual
CAPCOM6_X, V2.1
18-33
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
fT13
Period
Value
Period Zero
Match Match
T13 Count
Zero
CC63
Value n+1
Value n+2
Shadow Transfer
MCT05528
Figure 18-24 T13 Operation
T13 Shadow Transfer Signal, T13_ST
A special shadow transfer signal (T13_ST) can be generated to facilitate updating the
period and compare values synchronously to the operation of T13. The generation of this
signal is requested by software via bit STE13 (set by writing 1 to the write-only bit
T13STR, cleared by writing 1 to the write-only bit T13STD).
If requested (STE13 = 1), signal T13_ST is generated when:
•
•
the counter is reset to 0000H after the Period-Match, or
timer T13 is not running (T13R = 0)
With signal T13_ST, a new period value is loaded from the shadow register into the
actual period register T13PR, and a new compare value is transferred from its shadow
register into the actual compare register (see Section 18.1.2).
T13 Start/Stop and Reset Control
Timer T13 is started through software by setting the write-only bit T13RS. This operation
sets the timer run bit T13R, and the timer starts counting. To stop the timer, the writeonly bit T13RR needs to be set to 1. The run bit T13R is cleared to 0, and the timer stops
counting.
The run bit can also be cleared by hardware in Single Shot mode. In addition, T13 can
be started by events generated by the T12 Block, which set the run bit T13R. Please see
the next sections for details on these modes.
Software can clear timer T13 by writing 1 to the write-only bit T13RES. This operation
only sets the timer contents to 0000H. No further actions will take place, for example, the
timer run bit is not cleared.
User’s Manual
CAPCOM6_X, V2.1
18-34
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Single-Shot Mode
The run bit T13R is also influenced by hardware in Single-Shot mode. This mode is
enabled through bit T13SSC. When this bit is set, the timer will stop when the current
timer period is finished (see Figure 18-25). This is when the timer is cleared to 0000H
after having reached the period value.
fT13
Compare-Match
Period
Value
Compare
Value
T13 Count
Zero
CC63ST
T13SSC
MCT05529
Figure 18-25 Single-Shot Operation of Timer T13
User’s Manual
CAPCOM6_X, V2.1
18-35
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Synchronization of T13 to T12
Timer T13 can be synchronized to a T12 event. Bitfields T13TEC and T13TED select the
event which is used to start Timer T13. The selected event sets bit T13R via HW, and
T13 starts counting. Combined with the Single-Shot mode, this feature can be used to
generate a programmable delay after a T12 event.
Figure 18-26 shows an example for the synchronization of T13 to a T12 event. Here, the
selected event is a compare-match (compare value = 2) while counting up. The clocks
of T12 and T13 can be different (other prescaler factor); the figure shows an example in
which T13 is clocked with half the frequency of T12.
fT12
Period
Value
Compare-Match
T12 Count
Compare
Value
Zero
T13R
T13 Count
fT13
MCT05530
Figure 18-26 Synchronization of T13 to T12
Bitfield T13TEC selects the trigger event to start T13 (automatic set of T13R for
synchronization to T12 compare signals) according to the combinations shown in
Table 18-6. Bitfield T13TED additionally specifies for which count direction of T12 the
selected trigger event should be regarded (see Table 18-7).
User’s Manual
CAPCOM6_X, V2.1
18-36
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Table 18-6
T12 Trigger Event Selection
T13TEC
Selected Event
000B
None.
001B
T12 Compare Event on Channel 0.
010B
T12 Compare Event on Channel 1.
011B
T12 Compare Event on Channel 2.
100B
T12 Compare Event on any Channel (0, 1, 2).
101B
T12 Period-Match.
110B
T12 Zero-Match while counting up.
111B
Any Hall State Change.
Table 18-7
T12 Trigger Event Additional Specifier
T13TED
Selected Event Specifier
00B
Reserved, no action.
01B
Selected event is active while T12 is counting up.
10B
Selected event is active while T12 is counting down.
11B
Selected event is active independently of the count direction of T12.
User’s Manual
CAPCOM6_X, V2.1
18-37
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.2.2
T13 Compare Modes
Associated with Timer T13 is one compare channel, which can perform compare
operations with regard to the contents of the T13 counter.
Figure 18-27 gives an overview on the T13 channel in Compare Mode. The channel is
connected to the T13 counter register via an Equal-to comparator, which generates a
match signal when the contents of the counter matches the contents of the compare
register. The channel consists of the comparator and a double register structure - the
actual compare register, CC63R, feeding the comparator, and an associated shadow
register, CC63SR, which is preloaded by software and transferred into the compare
register when signal T13 shadow transfer, T13_ST, gets active. Providing a shadow
register for the compare value as well as for other values related to the generation of the
PWM signal facilitates a concurrent update by software for all relevant parameters. See
also Section 18.8, which provides an overview on this functionality.
fT13
Counter Register
T13
Comp.
=?
Compare Match CM_63
Compare Register
CC63R
T13_ST
Compare Shadow
Register CC63SR
MCA05531
Figure 18-27 T13 Channel Comparator
Associated with the channel is a State Bit, CC63ST, which holds the status of the
compare operation. This bit is set and reset according to certain conditions, which are
explained in more detail in the following sections. Figure 18-28 gives an overview on the
logic for the State Bit.
User’s Manual
CAPCOM6_X, V2.1
18-38
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
T13R
CM_63
CC63ST
Set/Reset
Control
Logic
T13_ZM
State Bit
CC63ST
T13_SSEP
CC63ST
MCC63S/R
MCB05532
Figure 18-28 T13 State Bit Block Diagram
The inputs to the set/reset logic for the CC6xST bits are the timer run bit (T13R), the
timer zero-match signal (T13_ZM), the end-of-single-shot mode signal (T13_SSEP), and
the actual individual compare-match signal CM_63. In addition, the state bit can be set
or reset by software via the set and reset bits, MCC63S and MCC63R.
A modification of the State Bit CC63ST by hardware is only possible while Timer T13 is
running (T13R = 1). If this is the case, the following rules apply for setting and resetting
the State Bit in Compare Mode:
State Bit CC63ST is set to 1
•
•
with the next T13 clock (fT13) after a compare-match (T13 is always counting up)
(i.e., when the counter is incremented above the compare value);
with the next T13 clock (fT13) after a zero-match AND a parallel compare-match.
State Bit CC63ST is reset to 0
•
with the next T13 clock (fT13) after a zero-match AND NO parallel compare-match.
fT13
Compare-Match
Compare-Match
Period
Value
Compare
Value
T13 Count
Zero
CC63ST
MCT05533
Figure 18-29 T13 Compare Operation
Note: The waveforms in Figure 18-29 correspond to the T12-waveforms in
Figure 18-11.
User’s Manual
CAPCOM6_X, V2.1
18-39
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
T13 Compare Mode Output Path
Figure 18-30 gives an overview on the signal path from the channel State Bit to its output
pin in its simplest form. As illustrated, a user has a variety of controls to determine the
desired output signal switching behavior in relation to the current state of the State Bit,
CC63ST. Please refer to Section 18.7 for detailed information on the output modulation
control.
State Selection
T13IM
CC63ST
CC63_O
State Bit
CC63ST
Output
Modulation
COUT63_O
CC63ST
COUT63PS
Level
Select
ECT13O
PSL63
To Output Pin
COUT63
MCA05534
Figure 18-30 CC63 Output Path
The output line COUT63_O can generate a T13 PWM at the output pin COUT63. The
signal CC63_O can be used to modulate the T12-related output signals with a T13 PWM.
In order to decouple COUT63 from the internal modulation, the compare state leading to
an active signal can be selected independently by bits T13IM and COUT63PS.
User’s Manual
CAPCOM6_X, V2.1
18-40
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
T13 Compare Mode Registers
Register CC63R is the actual compare registers for T13. The value stored in CC63R is
compared to the count value of T13. Register CC63R can only be read by SW, the
modification of the value is done by a shadow register transfer from the corresponding
shadow register CC63SR. This register can be read and written by SW.
CCU6_CC63R
Channel 3 Compare Register
15
14
13
12
11
10
XSFR (E8B4H/--)
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
CC63V
rh
Field
Bits
Type
Description
CC63V
[15:0]
rh
Channel 3 Compare Value
Bitfield CC6xV contains the value that is compared to
the T13 count value
CCU6_CC63SR
Channel 3 Comp. Shadow Reg. XSFR (E8B6H/--)
15
14
13
12
11
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
CC63S
rwh
Field
Bits
Type
Description
CC63S
[15:0]
rwh
Shadow Register for Channel 3 Compare Value
The contents of CC63S are transferred to bitfield
CC63V in register CC63R during a shadow transfer
User’s Manual
CAPCOM6_X, V2.1
18-41
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.3
Timer Block Control
Most features of timers T12 and T13 are controlled via the timer control registers TCTR0,
TCTR2, and TCTR4.
Register TCTR0 controls the basic functionality of both timers, T12 and T13.
CCU6_TCTR0
Timer Control Register 0
15
14
-
-
-
-
Field
13
12
11
XSFR (E8ACH/--)
10
STE
T13
T13R
13
PRE
rh
rh
rw
9
T13CLK
rw
8
7
6
CTM CDIR
rw
rh
Reset Value: 0000H
5
4
3
STE
T12
T12R
12
PRE
rh
rh
rw
2
1
0
T12CLK
rw
Bits
Type
Description
13
rh
Timer T13 Shadow Transfer Enable
0
The shadow register transfer is not requested
1
The shadow register transfer is requested
T13R2)
12
rh
Timer T13 Run Bit
T13R starts and stops timer T13. It is set/reset by SW
via bits T13RR or T13RS or it is reset by HW
according to the function defined by bitfield T13SSC.
0
Timer T13 is stopped
1
Timer T13 is running
T13PRE
11
rw
Timer T13 Prescaler Enable Bit
Enables the additional 1/256-prescaler of T13
0
The additional prescaler is disabled
1
The additional prescaler is enabled
T13CLK
[10:8]
rw
Timer T13 Input Clock Select
Selects the input clock for Timer T13 which is derived
from the CAPCOM6 input clock according to the
equation:
fT13 = fCC6/2<T13CLK>. See Table 18-5.
CTM
7
rw
T12 Operating Mode
0
Edge-Aligned Mode
1
Center-Aligned Mode
CDIR
6
rh
Count Direction of Timer T12
Displays the current counting direction of T12
0
T12 counts up
1
T12 counts down
STE13
1)
User’s Manual
CAPCOM6_X, V2.1
18-42
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Field
Bits
Type
Description
STE121)
5
rh
Timer T12 Shadow Transfer Enable
0
The shadow register transfer is not requested
1
The shadow register transfer is requested
T12R2)
4
rh
Timer T12 Run Bit
T12R starts and stops Timer T12. It is set/reset by
SW via bits T12RR or T12RS, or it is reset by HW
according to the function defined by bitfield T12SSC.
0
Timer T12 is stopped
1
Timer T12 is running
T12PRE
3
rw
Timer T12 Prescaler Enable Bit
Enables the additional 1/256-prescaler of T12
0
The additional prescaler is disabled
1
The additional prescaler is enabled
T12CLK
[2:0]
rw
Timer T12 Input Clock Select
Selects the input clock for Timer T12 which is derived
from the CAPCOM6 input clock according to the
equation:
fT12 = fCC6/2<T12CLK>. See Table 18-1.
1) Bit STE12/STE13 is cleared when the shadow transfer takes place.
2) A concurrent set/reset action on T13R/T12R (from TxSSC, TxRR or TxRS) will have no effect. Bit T13R/T12R
will remain unchanged.
Note: A write action to the bitfields T12CLK/T13CLK or T12PRE/T13PRE is only taken
into account while timer T12/T13 is not running (T12/T13R = 0).
User’s Manual
CAPCOM6_X, V2.1
18-43
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Register TCTR2 controls the single-shot and the synchronization functionality of both
timers T12 and T13.
CCU6_TCTR2
Timer Control Register 2
XSFR (E8AEH/--)
Reset Value: 0000H
15
14
13
12
11
10
9
8
7
6
5
4
3
-
-
-
-
-
-
-
-
SUS
CFG
T13
TED
T13
TEC
-
-
-
-
-
-
-
-
rw
rw
rw
2
1
0
T13 T12
SSC SSC
rw
rw
Field
Bits
Type
Description
SUSCFG
7
rw
Suspend Configuration
Defines the module’s behavior while the suspend
request is active, independent of the status of the
acknowledge signal (see Section 18.10).
0
No additional action
1
The outputs enabled for trap functionality are
set to their passive values
Note: In any case, timers T12 and T13 are stopped
when reaching the end of their period.
T13TED
[6:5]
rw
Trigger Event Direction Control
Bitfield T13TED additionally specifies for which count
direction of T12 the selected trigger event should be
regarded (see Table 18-7).
T13TEC
[4:2]
rw
Trigger Event Selection
Bitfield T13TEC selects the trigger event to start T13
(automatic set of T13R for synchronization to T12
compare signals) according to Table 18-6.
T13SSC
T12SSC
1
0
rw
Timer T13/T12 Single Shot Control
This bit enables the Single-Shot Mode of T13/T12
0
Single-Shot Mode is disabled
1
Single-Shot Mode is enabled
Register TCTR4 provides software-control (independent set and clear conditions) for the
run bits T12R and T13R. Furthermore, the timers can be reset (while running) and bits
STE12 and STE13 can be controlled by software. Reading these bits always returns 0s.
User’s Manual
CAPCOM6_X, V2.1
18-44
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
CCU6_TCTR4
Timer Control Register 4
15
14
T13 T13
STD STR
w
w
13
12
11
-
-
-
-
-
-
XSFR (E8A6H/--)
10
9
8
7
6
T13 T13 T13 T12 T12
RES RS RR STD STR
w
w
w
w
w
Reset Value: 0000H
5
4
-
-
-
-
3
2
1
0
DT T12 T12 T12
RES RES RS RR
w
w
w
w
Field
Bits
Type
Description
T13STD
T12STD
15
7
w
Timer T13/T12 Shadow Transfer Disable
0
No action
1
STE13/STE12 is cleared without triggering the
shadow transfer
T13STR
T12STR
14
6
w
Timer T13/T12 Shadow Transfer Request
0
No action
1
STE13/STE12 is set, requesting the shadow
transfer
T13RES
T12RES
10
2
w
Timer T13/T12 Reset
0
No effect on T13/T12
1
The T13/T12 counter register is reset to zero.
The switching of the output signals is
according to the switching rules. Setting of
T13RES/T12RES has no impact on bit
T13R/T12R.
T13RS
T12RS
9
1
w
Timer T13/T12 Run Bit Set Control1)
Software can set bit T13R/T12R (start timer T13/T12)
by writing to bit T13RS/T12RS.
0
T13R/T12R is not set
1
T13R/T12R is set, T13/T12 starts counting
T13RR
T12RR
8
0
w
Timer T13/T12 Run Bit Reset Control1)
Software can clear bit T13R/T12R (stop timer
T13/T12) by writing to bit T13RR/T12RR.
0
T13R/T12R is not cleared
1
T13R/T12R is cleared, T13/T12 stops counting
DTRES
3
w
Dead-Time Counter Reset
0
No effect on the Dead-Time counters
1
All three Dead-Time counters are cleared and
stopped
1) Setting the respective set- and reset-control bits together will not influence the associated timer.
User’s Manual
CAPCOM6_X, V2.1
18-45
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
The channel state register CMPSTAT contains status bits displaying the current capture
or compare state and control bits defining the active/passive state of a compare channel.
CCU6_CMPSTAT
Compare State Register
15
14
13
12
11
XSFR (E8A8H/--)
10
9
8
7
C
C
C
C
T13
CC
CC
CC
OUT OUT
OUT
OUT
IM
62PS
61PS
60PS
63PS 62PS
61PS
60PS
-
rwh
-
rwh
rwh
rwh
rwh
rwh
rwh
rwh
6
Reset Value: 0000H
5
4
3
2
1
0
CC CC CC
CC
CC CC CC
POS POS POS
63ST
62ST 61ST 60ST
2
1
0
rh
rh
rh
rh
rh
rh
rh
Field
Bits
Type
Description
T13IM
15
rwh
T13 Inverted Modulation Control
Bit T13IM inverts signal CC63_O for the modulation
of the CC6x and COUT6x (x = 0, 1, 2) signals
0
CC63_O is not inverted
1
CC63_O is inverted for further modulation
COUT63PS1)
COUT62PS
CC62PS
COUT61PS
CC61PS
COUT60PS
CC60PS
14
13
12
11
10
9
8
rwh
Passive State Select for Compare Output
Bit COUT6xPS/CC6xPS selects the state of the
compare channel, considered as the passive state.
During the passive state, the passive level (defined in
register PSLR) is driven by the output pin.
0
The compare output drives passive level while
CC6xST is 0
1
The compare output drives passive level while
CC6xST is 1
Note: In capture mode, these bits are not used.
CC63ST2)
CC62ST
CC61ST
CC60ST
6
2
1
0
rh
T13/T12 Compare State Bit
Bits CC6xST monitor the state of the capture/
compare channels.
Compare mode:
0
The timer count is less than the compare value
1
The timer count is greater than the comp. value
Capture mode (channels 0 … 2 only):
0
The selected edge has not yet been detected
1
The selected edge has been detected
CCPOSx
5, 4, 3
rh
Sampled Hall Pattern Bits
1) These bits have shadow bits and are updated in parallel to the capture/compare registers of T12 or T13,
respectively. A read action targets the actually used values, whereas a write action targets the shadow bits.
2) These bits are set and reset according to the T12, T13 switching rules.
User’s Manual
CAPCOM6_X, V2.1
18-46
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
The Compare Status Modification Register CMPMODIF provides software-control
(independent set and clear conditions) for the channel state bits CC6xST. This feature
enables the user to individually change the status of the output lines by software, for
example when the corresponding compare timer is stopped.
CCU6_CMPMODIF
Comp. State Modification Reg. XSFR (E8AAH/--)
15
14
13
12
11
-
MCC
63R
-
-
-
-
w
-
-
-
10
9
8
MCC MCC MCC
62R 61R 60R
w
w
w
Reset Value: 0000H
7
6
5
4
3
-
MCC
63S
-
-
-
-
w
-
-
-
2
1
0
MCC MCC MCC
62S 61S 60S
w
w
Field
Bits
Type
Description
MCC63R
MCC62R
MCC61R
MCC60R
14
10
9
8
w
Capture/Compare Channel x Status Reset Bit
0
No action
1
Bit CC6xST is cleared1)
MCC63S
MCC62S
MCC61S
MCC60S
6
2
1
0
w
Capture/Compare Channel x Status Set Bit
0
No action
1
Bit CC6xST is set1)
w
1) Setting the respective set- and reset-control bits together will toggle the associated status bit.
User’s Manual
CAPCOM6_X, V2.1
18-47
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.4
Multi-Channel Mode
The Multi-Channel mode offers the possibility to modulate all six T12-related output
signals with one instruction. The bits in bitfield MCMOUT.MCMP are used to specify the
outputs which may become active. If Multi-Channel mode is enabled (bit
MODCTR.MCMEN = 1), only those outputs may become active, which have a 1 at the
corresponding bit position in bitfield MCMP.
This bitfield has its own shadow bitfield, MCMPS, which can be written by software. The
transfer of the new value in MCMPS to the bitfield MCMP can be triggered by, and
synchronized to, T12 or T13 events. This structure permits the software to write the new
value, which is then taken into account by the hardware at a well-defined moment and
synchronized to a PWM signal. This avoids unintended pulses due to unsynchronized
modulation sources (T12, T13, software).
Shadow Register
MCMOUTS.MCMPS
SWSYN
SW Update, STRMCM
T12_ZM
T13_ZM
0
Corr. Hall Evt. CM_CHE
T13_PM
T12_OM
CM_61_UP
T12_PM
Switching
Synchronization
Shadow Transfer
MCM_ST
MUX
Register
MCMOUTS.MCMP
State Bit
Outputs
Modulation Control
SWSEL
Output Pins CC6x/COUT6x
MCB05535
Figure 18-31 Multi-Channel Mode Block Diagram
Figure 18-31 shows the modulation selection for the Multi-Channel mode. The event
that triggers the update of bitfield MCMP is chosen by SWSEL. In order to synchronize
the update of MCMP to a PWM generated by T12 or T13, bitfield SWSYN allows the
selection of the synchronization event, which leads to the transfer from MCMPS to
MCMP. Due to this structure, an update takes place with a new PWM period. A reminder
flag, bit R, is set when the selected switching event occurs, and is reset when the transfer
takes place. This flag can be monitored by software to check for the status of this logic.
User’s Manual
CAPCOM6_X, V2.1
18-48
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
If it is explicitly desired, the update takes place immediately with the occurrence of the
selected event when the direct synchronization mode is selected. The update can also
be requested by software by writing to bitfield MCMPS with the shadow transfer request
bit STRMCM set. By using the direct mode and bit STRMCM, the update takes place
completely under software control. The event selection and synchronization options are
summarized in Table 18-8 and Table 18-9.
Table 18-8
Multi-Channel Mode Trigger Event Selection
SWSEL
Selected Event (see register CCU6_MCMCTR)1)
000B
None
001B
Correct Hall Event (CM_CHE) at pins CCPOS6x
010B
T13 Period-Match (T13_PM)
011B
T12 One-Match while counting down (T12_OM)
100B
T12 Compare Event of Channel 1 while counting up (CM_61_UP; see
Section 18.5 and Figure 18-34). Phase delay function.
101B
T12 Period-Match while counting up (T12_PM)
11xB
Reserved, no action
1) Software control is always possible.
Table 18-9
Multi-Channel Mode Trigger Event Synchronization
SWSYN
Synchronization Event (see register CCU6_MCMCTR)
00B
Direct Mode: the trigger event directly causes the shadow transfer
01B
T13 Zero-Match
10B
T12 Zero-Match while counting up
11B
Reserved, no action
User’s Manual
CAPCOM6_X, V2.1
18-49
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Register MODCTR contains control bits enabling the modulation of the corresponding
output signal by PWM patterns generated by timers T12 and T13. Furthermore, the
Multi-Channel mode can be enabled as additional modulation source for the output
signals.
CCU6_MODCTR
Modulation Control Register
15
14
ECT
13O
-
rw
-
13
12
11
10
XSFR (E8C0H/--)
9
8
Reset Value: 0000H
7
6
5
4
3
2
1
T13MODEN
MCM
EN
-
T12MODEN
rw
rw
-
rw
0
Field
Bits
Type
Description
ECT13O
15
rw
Enable Compare Timer T13 Output
0
Signal COUT63 is forced to 0
1
Signal COUT63 can switch as programmed
T13MODEN
T12MODEN
[13:8]
[5:0]
rw
T13/T12 Modulation Enable
These bits enable the modulation of the
corresponding compare channel(s) by a PWM
pattern generated by timer T13 or T12.
0
No modulation by T13/T12
1
Corresponding output is modulated by a
T13/T12 PWM pattern
T13MODEN[5:0] and T12MODEN[5:0] correspond
(left to right) to:
COUT62, CC62, COUT61, CC61, COUT60, CC60.
MCMEN
7
rw
Multi-Channel Mode Enable
Enables the modulation of the output signals by a
multi-channel pattern according to bitfield MCMOUT
0
The modulation is disabled
1
The modulation is enabled
Note: Registers MCMOUT, MCMOUTS, and MCMCTR are also related to MultiChannel Mode operation.
User’s Manual
CAPCOM6_X, V2.1
18-50
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.5
Hall Sensor Mode
For Brushless DC-Motors, usually the Multi-Channel Mode is used, as the modulation
patterns need to be output to properly control the motor. These patterns need to be
output in relation to the angular position of the motor. For this, usually Hall sensors or
Back-EMF sensing are used to determine the angular rotor position. The CAPCOM6
provides three inputs, CC6POS0 … CC6POS2, which can be used as inputs for the Hall
sensors or the Back-EMF detection signals.
There is a strong correlation between the motor position and the output modulation
pattern. When a certain position of the motor has been reached, indicated by the
sampled Hall sensor inputs (the Hall pattern), the next, pre-determined Modulation
pattern has to be output. Because of different machine types, the modulation pattern for
driving the motor can vary. Therefore, it is wishful to have a wide flexibility in defining the
correlation between the Hall pattern and the corresponding Modulation pattern.
The CAPCOM6 offers this by having a register which contains the actual current Hall
pattern (CURH), the next expected Hall pattern (EXPH) and the corresponding output
pattern (MCMP). A new Modulation pattern is output when the sampled Hall inputs
match the expected ones (EXPH). To detect the next rotation phase (segment for block
commutation), the CAPCOM6 monitors the Hall inputs for changes. When the next
expected Hall pattern is detected, the next corresponding Modulation pattern is output.
To provide for noise immunity (to a certain extend), the CAPCOM6 offers the possibility
to introduce a sampling delay for the Hall inputs. In addition, it compares the sampled
Hall signals to the current Hall pattern (CURH) to provide for some tolerance in case of
short spikes.
For the Hall and Modulation patterns, a double-register structure is implemented. While
register MCMOUT holds the actually used values, its shadow register MCMOUTS can
be loaded by software from a pre-defined table, holding the appropriate Hall and
Modulation patterns for the given motor control.
A transfer from the shadow register into register MCMOUT can take place when a
correct Hall pattern change is detected, that is, when the sampled Hall pattern matches
the expected one. Software can then load the next values into register MCMOUTS. It is
also possible by software to force a transfer from MCMOUTS into MCMOUT.
User’s Manual
CAPCOM6_X, V2.1
18-51
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.5.1
Hall Pattern Compare Logic
Figure 18-32 gives an overview on the double-register structure and the pattern
compare logic. Software writes the next modulation pattern (MCMPS) and the
corresponding current (CURHS) and expected (EXPHS) Hall patterns into the shadow
register MCMOUTS. Register MCMOUT holds the actually used values. The modulation
pattern MCMP is provided to the Output Modulation Control block. The current (CURH)
and expected (EXPH) Hall patterns are compared to the sampled Hall sensor inputs
(pins CC6POSx) by comparators. Sampling of the inputs and the evaluation of the
comparator outputs is controlled by signal HCRDY (Hall Compare Ready), which is
detailed in the next section.
SW Write
SW Write
SW Write
CURHS
EXPHS
MCMPS
Shadow
Transfer
CM_CHE
Shadow
Transfer
MCM_ST
EXPH
Sample
CURH
CC6POS0..2
Register
MCMOUTS
Register
MCMOUT
MCMP
To Output
Modulation
Comp.
=?
Comp.
=?
Correct Hall Event
CM_CHE
Comb.
Logic
HCRDY
HCRDY
Wrong Hall Event
CM_WHE
MCA05536
Figure 18-32 Hall Pattern Compare Logic
When the sampled Hall pattern matches the expected one (EXPH), signal CM_CHE
(Correct Hall Event) is generated. When the sampled Hall pattern matches the current
one (CURH), no signal is generated, as this is a normal case after a spike on the input
line. If the sampled pattern matches neither EXPH nor CURH, signal CM_WHE is
generated, which indicates a wrong Hall event.
At every correct Hall event (CM_CHE), the next Hall patterns are transferred from the
shadow register MCMOUTS into MCMOUT, and a new Hall pattern with its
corresponding output pattern can be loaded (from a predefined table) by software into
MCMOUTS. For the Modulation patterns, signal MCM_ST is used to trigger the transfer.
This signal can be generated through signal CM_CHE (see Figure 18-31). Loading this
User’s Manual
CAPCOM6_X, V2.1
18-52
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
shadow register can also be done by a write action on MCMOUTS with bit STRHP = 1.
In case of a phase delay (generated by T12 channel 1), a new pattern is applied when
the Multi-Channel mode shadow transfer MCM_ST (indicated by bit STR) occurs.
18.5.2
Sampling of the Hall Pattern
The Hall sensor inputs (CC6POSx) are monitored with the module clock (fCC6) via an
edge detection block. When a level change is detected on any one of the three inputs, a
signal is generated. In order to suppress spikes on the Hall inputs due to high di/dt in
rugged inverter environment, a hardware noise filter can be used.
This noise filtering is performed using the Dead-Time Counter DTC0. For this function,
the mode control bitfields MSELx for the T12 Channels must all be programmed to
‘1000’. The output signal of the edge detection block is used to trigger DTC0. It is
reloaded, starts counting, and thus generates a delay. An output signal, DTC0_O, is
generated when the counter reaches the value one. This signal is used as the input
sampling and compare evaluation signal HCRDY (see Figure 18-32).
This feature provides a noise filter by delay. Most disturbances, such as switching spikes
and signal bouncing, can be eliminated this way. When an input signal change was
detected, the inputs are sampled a certain time later, determined by the reload value of
DTC0. They are then compared to the current and expected Hall patterns. If the sampled
pattern matches the current pattern (CURH), the detected input signal change was due
to a noise spike (which is not visible anymore), and no further action will be triggered. If
the sampled pattern matches the expected one (EXPH), the signal change was a correct
Hall event, and signal CM_CHE is generated to trigger further actions.
However, when the sampled pattern matches none of CURH and EXPH, the detected
input change lead to a wrong Hall pattern. Signal CM_WHE is generated to indicate this
fault and to allow further appropriate actions.
Figure 18-33 illustrates the noise filter logic, Table 18-10 summarizes the selectable
trigger input signals.
User’s Manual
CAPCOM6_X, V2.1
18-53
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
CCPOS60..62
Hall
Compare
Logic
Edge
Detect
HCRDY
MUX
CM_63
T13_PM
0
T12_PM
T12_OM
CM_61_UP
CM_61_DN
Dead-Time DTC0_O
Gen. Block
DTC0
MUX
DBYP
HSYNC
MCB05553
Figure 18-33 Hall Trigger Logic Block Diagram
Table 18-10 Hall Sensor Mode Trigger Event Selection
HSYNC
Selected Event (see register CCU6_T12MSEL)
000B
Any edge at any of the inputs CCPOSx.
001B
A T13 Compare-Match (CM_63).
010B
A T13 Period-Match (T13_PM).
011B
Hall sampling triggered by HW sources is switched off.
100B
A T12 Period-Match while counting up (T12_PM).
101B
A T12 One-Match while counting down (T12_OM).
110B
A T12 Compare-Match of Channel 1 while counting up (CM_61_UP).
111B
A T12 Compare-Match of Channel 1 while counting down (CM_61_DN).
User’s Manual
CAPCOM6_X, V2.1
18-54
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.5.3
Brushless DC-Motor Control with Timer T12 Block
The CAPCOM6 provides a mode for the Timer T12 Block especially targeted for
convenient control of Brushless DC-Motors. This mode is selected by setting all MSELx
bitfields of the three T12 Channels to 1000B.
In this mode, illustrated in Figure 18-34, channel 0 is placed in capture mode, while
channels 1 and 2 are in compare mode.
Counter Register
T12
fT12
Reset
CM_CHE
CM_61
CM_CHE
Capture Register
CC60R
Comp.
=?
Comp.
=?
Compare Register
CC61R
Compare Register
CC62R
CM_62
CM_CHE
Compare Shadow
Register CC61SR
Compare Shadow
Register CC62SR
MCA05538
Figure 18-34 T12 Block in Hall Sensor Mode
The signal to transfer the new compare values from the shadow registers (CC6xSR) into
the actual compare registers (CC6xR) is now taken from the Correct Hall Event
Compare, CM_CHE. In addition, this signal triggers a capture of the current T12 contents
into register CC60R, and then forces a reset of T12 to 0000H. The same signal is also
used to perform the shadow transfer of the new T12 period value.
Note: In this mode, the shadow transfer signal T12_ST is not generated. Shadow bits,
such as the PSLy bits, will not be transferred to their main registers. To program
the main registers, SW needs to write to these registers while Timer T12 is
stopped. In this case, a SW write actualizes both registers.
User’s Manual
CAPCOM6_X, V2.1
18-55
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
CC62 Compare
for Time-Out
Hall Event captures
and resets T12
CC62 Comp.
T12 Count
CC61 Compare
for Phase Delay
CC61 Comp.
0000H
CC6POS0
1
1
1
0
0
0
CC6POS1
0
0
1
1
1
0
CC6POS2
1
0
0
0
1
1
CURH
= 101
= 001
= 011
= 010
= 110
= 100
EXPH
= 001
= 011
= 010
= 110
= 100
= ???
MCMP
CC6x
COUT6x
MCT05539
Figure 18-35 Brushless DC-Motor Control Example (all MSEL6x = 1000B)
After the detection of a valid expected Hall pattern, the T12 count value is captured into
channel 0 (representing the actual motor speed), and T12 is reset. When the timer
reaches the compare value in channel 1, the next multi-channel state is switched by
triggering the shadow transfer of bitfield MCMP (if enabled in bitfield SWEN). This trigger
event can be combined with several conditions which are necessary to implement a
noise filtering (correct Hall event) and to synchronize the next multi-channel state to the
modulation sources (avoiding spikes on the output lines). This compare function of
channel 1 can be used as a phase delay from the position sensor input signals to the
switching of the output signals, which is necessary if a sensorless back-EMF technique
is used instead of Hall sensors. The compare value in channel 2 can be used as a timeout trigger (interrupt), indicating that the motor’s actual speed is far below the desired
destination value, which can be caused by an abnormal load change. In this mode, the
modulation of the outputs by T12 needs to be disabled (T12MODENx = 0).
User’s Manual
CAPCOM6_X, V2.1
18-56
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
The capturing of the timer value in register CC60R, the shadow transfer from registers
CC61SR to CC61R, from CC62SR to CC62R, and for the T12 period value, is done
together with the reset event for T12.
18.5.4
Hall Mode Flags
Depending on the Hall pattern compare operation, a number of flags are set in order to
indicate the status of the module and to trigger further actions and interrupt requests.
Flag CHE (Correct Hall Event) in register IS is set via signal CM_CHE when the sampled
Hall pattern matches the expected one (EXPH). This flag can also be set by SW via
setting bit SCHE in register ISS. If enabled through bit ENCHE (in register IEN), the set
signal for CHE can also generate an interrupt request to the CPU. To clear flag CHE, SW
needs to write a 1 to bit RCHE in register ISR.
Flag WHE indicates a Wrong Hall Event. Its handling for flag setting and resetting as well
as interrupt request generation is the same as described above for flag CHE.
The implementation of flag STR is done in the same way as for CHE and WHE. This flag
is set by HW via the shadow transfer signal MCM_ST (see also Figure 18-31).
User’s Manual
CAPCOM6_X, V2.1
18-57
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Set
SCHE
Reset
CHE
_
>1
RCHE
&
CM_CHE
ENCHE
Set
SWHE
Reset
WHE
_
>1
RWHE
&
CM_WHE
Interrupt Req.
ENWHE
Interrupt Req.
SIDLE
_
>1
&
Set
Reset
ENIDLE
IDLE
Clear MCMP
RIDLE
Set
SSTR
STR
Reset
_
>1
MCM_ST
RSTR
&
ENSTR
Interrupt Req.
MCA05540
Figure 18-36 Hall Mode Flag Logic
Please note that for flags CHE, WHE, and STR, the interrupt request generation is
triggered by the set signal for the flag. That means, a request can be generated even if
the flag is already set. There is no need to reset the flag in order to enable further
interrupt requests.
The implementation for the IDLE flag is different. It is set by HW through signal CM_WHE
if enabled by bit ENIDLE. Software can also set the flag via bit SIDLE. As long as bit IDLE
is set, the modulation pattern field MCMP is cleared to force the outputs to the passive
state. Flag IDLE must be reset by software through bit RIDLE in order to return to normal
operation. To fully restart from IDLE mode, the transfer requests for the bitfields in
register MCMOUTS to register MCMOUT have to be initiated by software via bits
STRMCM and STRHP in register MCMOUTS. In this way, the release from IDLE mode
is under software control, but can be performed synchronously to the PWM signal.
User’s Manual
CAPCOM6_X, V2.1
18-58
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Hall Mode Registers
Register MCMOUTS contains the shadow bitfields for the modulation and Hall patterns
as well as control bits for a software-initiated shadow transfer. The contents of bitfields
MCMPS, EXPHS, and CURHS are transferred into the corresponding fields of register
MCMOUT when the associated shadow transfer signals are activated.
CCU6_MCMOUTS
Multi-Ch. Mode Outp. Shad. R.
15
14
13
12
STR
HP
-
CURHS
w
-
rw
11
10
XSFR (E8CAH/--)
9
8
Reset Value: 0000H
7
6
5
4
3
2
1
EXPHS
STR
MCM
-
MCMPS
rw
w
-
rw
0
Field
Bits
Type
Description
STRHP
15
w
Shadow Transfer Request for the Hall Patterns
Setting this bit during a write action leads to an
immediate update of bitfields CURH and EXPH by
the value written to CURHS and EXPHS. This
functionality permits an update triggered by SW.
When read, this bit always delivers 0.
0
CURH and EXPH are updated according to the
defined HW action. The write access to
CURHS and EXPH does not modify bitfields
CURH and EXPH.
1
CURH and EXPH are updated by the value
written to bitfields CURHS and EXPHS.
CURHS
[13:11] rw
Current Hall Pattern Shadow Field
CURHS is the shadow field for bitfield CURH. The
bitfield is transferred to CURH when a correct Hall
event is detected.
EXPHS
[10:8]
Expected Hall Pattern Shadow Field
EXPHS is the shadow field for bitfield EXPH. The
bitfield is transferred to EXPH when a correct Hall
event is detected.
User’s Manual
CAPCOM6_X, V2.1
rw
18-59
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Field
Bits
Type
Description
STRMCM
7
w
Shadow Transfer Request for MCMPS
Setting this bit during a write action leads to an
immediate update of bitfield MCMP by the value
written to MCMPS. This functionality permits an
update triggered by SW. When read, this bit always
delivers 0.
0
MCMP is updated according to the defined HW
action. The write access to MCMPS does not
modify MCMP.
1
MCMP is updated by the value written to
MCMPS.
MCMPS
[5:0]
rw
Multi-Channel PWM Pattern Shadow Field
MCMPS is the shadow field for bitfield MCMP. The
Multi-Channel shadow transfer is triggered according
to the transfer conditions defined by register
MCMCTR.
Register MCMOUT holds the Modulation and Hall patterns that are currently used.
CCU6_MCMOUT
Multi-Ch. Mode Output Reg.
15
14
13
12
-
-
CURH
-
-
rh
11
Field
Bits
CURH1)
[13:11] rh
User’s Manual
CAPCOM6_X, V2.1
10
Type
XSFR (E8CCH/--)
9
8
Reset Value: 0000H
7
6
5
4
3
2
EXPH
-
R
MCMP
rh
-
rh
rh
1
0
Description
Current Hall Pattern
CURH is written by a shadow transfer from bitfield
CURHS. Bitfield CURH is compared to the sampled
Hall pattern after every detected edge at the Hall
sensor inputs CC6POSx. If the pattern match, the
detected edge has been an invalid transition (e.g.
due to a spike), and no further action is performed. If
the sampled pattern do not either match CURH or
EXPH, a Wrong Hall Event signal is set, which can
trigger further actions.
18-60
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Field
Bits
Type
Description
EXPH1)
[10:8]
rh
Expected Hall Pattern
EXPH is written by a shadow transfer from bitfield
EXPHS. Bitfield EXPH is compared to the sampled
Hall pattern after every detected edge at the Hall
sensor inputs CC6POSx. If the pattern match, a
Correct Hall Event signal is generated, which triggers
further actions.
R
6
rh
Reminder Flag
Indicates that the shadow transfer from bitfield
MCMPS to MCMP has been requested by the
selected trigger source. This bit is cleared while
MCMEN = 0 and when the shadow transfer takes
place.
0
No shadow transfer is requested
1
A shadow transfer from MCMPS to MCMP has
been requested but not yet executed
MCMP2)
[5:0]
rh
Multi-Channel Modulation Pattern
MCMP contains the output modulation pattern for the
Multi-Channel mode, which can set the
corresponding output to the passive state. It is written
by a shadow transfer from bitfield MCMPS.
0
The output is set to the passive state.
1
The output can deliver the PWM generated by
T12 or T13 (according to register MODCTR).
MCMP[5:0] corresponds to (left to right):
COUT62, CC62, COUT61, CC61, COUT60, CC60.
1) The bits in the bitfields EXPH and CURH correspond to the hall patterns at the input pins CCPOSx (x = 0, 1,
2) in the order (EXPH.2, EXPH.1, EXPH.0), (CURH.2, CURH.1, CURH.0), (CCPOS2, CCPOS.1, CCPOS0).
2) While bit IS.IDLE = 1, bitfield MCMP is cleared.
User’s Manual
CAPCOM6_X, V2.1
18-61
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Register MCMCTR contains control bits for the Multi-Channel mode, controlling the
output modulation pattern.
CCU6_MCMCTR
Multi-Ch. Mode Control Reg.
XSFR (E8CEH/--)
Reset Value: 0000H
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
-
-
-
-
-
-
-
-
-
-
SWSYN
-
SWSEL
-
-
-
-
-
-
-
-
-
-
rw
-
rw
0
Field
Bits
Type
Description
SWSYN
[5:4]
rw
Switching Synchronization
SWSYN triggers the shadow transfer from MCMPS
to MCMP, if it has been requested before (flag R set)
by an event selected by SWSEL. This permits the
synchronization of the outputs to the source which is
used for modulation (T12 or T13). See Table 18-9.
SWSEL
[2:0]
rw
Switching Selection
SWSEL selects the trigger source (next multichannel event) for the shadow transfer from MCMPS
to MCMP. The transfer takes place synchronously
with the selected event. See Table 18-8.
Note: The generation of the shadow transfer request by HW is only enabled if bit
MCMEN = 1.
User’s Manual
CAPCOM6_X, V2.1
18-62
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.6
Trap Handling
The trap functionality permits the PWM outputs to react on the state of the input pin
CTRAP. This functionality can be used to switch off the power devices if the trap input
becomes active (e.g. to perform an emergency stop).
The Trap Flag TRPF monitors the trap input and initiates the entry into the Trap State. It
can also be set by SW. The Trap State Bit TRPS determines the effect on the outputs
and controls the exit of the Trap State.
When a trap condition is detected, both, the Trap Flag TRPF and the Trap State Bit
TRPS, are set to 1. The Trap State is entered immediately. The output of the Trap State
Bit TRPS leads to the Output Modulation Block and can there deactivate the outputs (set
them to the passive state). Individual enable control bits for each of the six T12-related
outputs and the T13-related output facilitate a flexible adaptation to the application needs
(see Section 18.7).
There are a number of different ways to exit the Trap State. This offers SW the option to
select the operation which is best for the given application. Exiting the Trap State can be
done either immediately when the trap condition is removed, or under software control,
or synchronously to the PWM generated by either Timer T12 or Timer T13.
Figure 18-37 gives an overview on the trap function. Both, the Trap Flag TRPF and the
Trap State Bit TRPS, located in register IS, are set to 1 when input CTRAP is activated.
The Trap Flag TRPF can also be set by SW via bit STRPF. In turn, the Trap State Bit
TRPS will also be set through its Set/Reset Control block. As long as pin CTRAP = 0,
TRPF and TRPS remain set and can not be cleared (assuming TRPPEN = 1).
STRPF RTRPF
Reg. IS
Set
Set/Reset
Control
CTRAP
Reset
Trap
Flag
TRPF
TRPPEN
TRPM2
Reg. IS
Set
T12_ZM
T13_ZM
Set/Reset
Control
TRPM1 TRPM0
Reset
Trap
State
TRPS
To Output
Modulation
MCB05541
Figure 18-37 Trap Logic Block Diagram
User’s Manual
CAPCOM6_X, V2.1
18-63
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
The reset of TRPF is controlled by the mode control bit TRPM2 (located in the Trap
Control Register TRPCTR). When TRPM2 = 0, TRPF is automatically cleared by HW
when CTRAP returns to the inactive level (CTRAP = 1). When TRPM2 = 1, TRPF must
be reset by SW after CTRAP has become inactive.
The reset of TRPS is controlled by the mode control bits TRPM1 and TRPM0 (located in
the Trap Control Register TRPCTR). A reset of TRPS terminates the Trap State and
returns to normal operation. There are three options selected by TRPM1 and TRPM0.
One is that the Trap State is left immediately when the Trap Flag TRPF is cleared,
without any synchronization to timers T12 or T13. The other two options facilitate the
synchronization of the termination of the Trap State to the count periods of either Timer
T12 or Timer T13. Figure 18-38 gives an overview on the associated operation.
T12 Count
T13 Count
TRPF
CTRAP active
TRPS
Sync. to T12
TRPS
Sync. to T13
TRPS
No sync.
MCT05542
Figure 18-38 Trap State Synchronization (with TRM2 = 0)
User’s Manual
CAPCOM6_X, V2.1
18-64
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Trap Handling Registers
Register TRPCTR controls the trap functionality. It contains independent enable bits for
each output signal and control bits to select the behavior in case of a trap condition.
CCU6_TRPCTR
Trap Control Register
15
14
13
12
TRP
TRP
EN
PEN
13
rw
rw
XSFR (E8C2H/--)
11
10
9
8
Reset Value: 0000H
7
6
5
4
3
TRPEN
-
-
-
-
-
rw
-
-
-
-
-
2
1
0
TRP TRP TRP
M2 M1 M0
rw
rw
rw
Field
Bits
Type
Description
TRPPEN
15
rw
Trap Pin Enable Control
0
The trap input pin CTRAP is disabled.
Software can generate a trap by setting bit
TRPF.
1
The trap input pin CTRAP is enabled. A trap
can be generated by SW by setting bit TRPF or
by CTRAP = 0.
TRPEN13
14
rw
Trap Enable Control for T13 Output
Enables the trap functionality for the T13 output
signal CC63.
0
The trap functionality is disabled. The output
state is independent from bit TRPS.
1
The trap functionality is enabled. The output is
set to the passive state while TRPS = 1.
TRPEN
[13:8]
rw
Trap Enable Control for T12 Outputs
Enables the trap functionality for the individual output
signals CC6x and COUT6x.
0
The trap functionality is disabled. The output
state is independent from bit TRPS.
1
The trap functionality is enabled. The output is
set to the passive state while TRPS = 1.
TRPEN[5:0] corresponds to (left to right):
COUT62, CC62, COUT61, CC61, COUT60, CC60.
User’s Manual
CAPCOM6_X, V2.1
18-65
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Field
Bits
Type
Description
TRPM2
2
rw
Trap Mode Control Bit 2
This bit controls whether the Trap State Exit is
initiated by hardware or by software.
0
Trap State Exit initiated by HW. Bit TRPF is
automatically cleared by HW if the input pin
CTRAP becomes inactive (CTRAP = 1).
1
Trap State Exit initiated by SW. Bit TRPF must
be reset by SW after the input CTRAP
becomes inactive (CTRAP = 1).
TRPM1,
TRPM0
[1:0]
rw
Trap Mode Control Bits 1, 0
These two bits control the termination of the Trap
State. When the Trap Flag TRPF is reset to 0, the
Trap State Bit TRPS is reset and the Trap State is left
according to the following options:
00
T12 Synchronization: Reset of TRPS and Trap
State Exit on a T12 Zero-Match (T12_ZM).
01
T13 Synchronization: Reset of TRPS and Trap
State Exit on a T13 Zero-Match (T13_ZM).
10
Reserved, no action.
11
No Synchronization: Reset of TRPS and Trap
State Exit immediately after reset of the Trap
Flag TRPF.
User’s Manual
CAPCOM6_X, V2.1
18-66
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.7
Output Modulation Control
The last block of the data path is the Output Modulation Control Logic. Here, all the
modulation sources are combined and control the actual level of the output pins.
In the following, the six T12-related outputs (CC6x, COUT6x) are discussed separately
from the T13-related output CC63.
Figure 18-39 gives an overview on the six control blocks and control signals regarding
the T12-related outputs. Four individual modulation signals and their associated enable
controls lead to each one of the blocks. The modulation signals CC6x_O and
COUT6x_O come from the State Selection logic (see Figure 18-15) at the outputs of the
three State Bits CC6xST. Signals MCMPy are the six outputs of the Multi-Channel Mode
register MCMOUT (see Figure 18-31). Signal CC63_O is the T13-generated signal from
the State Selection logic at the output of the State Bit CC63_ST (see Figure 18-30), and
leads in parallel to all 6 blocks. The trap signal TRPS also is connected to all six blocks,
and is the output of the Trap State bit (see Figure 18-37).
While signals CC6x_O/COUT6x_O, CC63_O, and TRPS have individual enable controls
for each of the six blocks, there is only one general enable signal, MCMEN, for the
MCMPy signals.
The output of each of the modulation control blocks is connected to a level select block,
which offers the option to determine the actual output level of a pin, depending on the
state of the output line.
Figure 18-40 provides a closer look at one of the modulation and level select blocks. The
logic, which combines the various signals, is designed such that only signals which are
enabled by their respective enable signal can influence the output line, MCL_OUT. If one
of the modulation signals CC6x_O/COUT6x_O, CC63_O, or MCMPx is enabled and is
at passive state, output MCL_OUT is also in passive state, regardless of the state of the
other enabled signals. Only if all enabled signals are in active state output MCL_OUT
shows an active state.
If the Trap State is active (TRPS = 1), then all outputs for which the trap signal is enabled
(TRPENy = 1) are set to the passive state.
The output MCL_OUT of the modulation control block is then used to select the actual
level of the output, specified through the Passive State Select bit PSLy. When
MCL_OUT is in the passive state, the level specified directly by PSLy is output. When
MCL_OUT is in the active state, the inverted level of PSLy is output.
The PSLy bits have shadow registers to allow for updates without undesired pulses on
the output lines. The bits are updated with the T12 shadow transfer signal (T12_ST). A
read action returns the actually used values, whereas a write action targets the shadow
bits. Providing a shadow register for the PSL value as well as for other values related to
the generation of the PWM signal facilitates a concurrent update by software for all
relevant parameters (see also Section 18.8).
User’s Manual
CAPCOM6_X, V2.1
18-67
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
CC60_O
MCMP.0
CC63_O
Modulation
Control
CC60
MCMEN
T13MODEN.0
TRPS
TRPEN.0
MCL_OUT0
COUT60_O
MCMP.1
T13MODEN.1
MCL_OUT1
CC61_O
T13MODEN.2
MCL_OUT2
COUT61_O
T13MODEN.3
MCL_OUT3
CC62_O
PSL1
Level
Select
COUT60
PSL2
Level
Select
CC61
PSL3
Level
Select
COUT61
T12MODEN.4
Modulation
Control
CC62
T13MODEN.4
TRPEN.4
MCL_OUT4
COUT62_O
MCMP.5
CC60
T12MODEN.3
Modulation
Control
COUT61
TRPEN.3
MCMP.4
Level
Select
T12MODEN.2
Modulation
Control
CC61
TRPEN.2
MCMP.3
PSL0
T12MODEN.1
Modulation
Control
COUT60
TRPEN.1
MCMP.2
To
Output
Pins
T12MODEN.0
PSL4
Level
Select
CC62
T12MODEN.5
Modulation
Control
COUT62
T13MODEN.5
TRPEN.5
MCL_OUT5
PSL5
Level
Select
COUT62
MCA05543
Figure 18-39 Output Modulation Overview
User’s Manual
CAPCOM6_X, V2.1
18-68
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
WriteOnly
PSLy
Shadow
CC6x_O
COUT6x_O
T12MODENy
T12_ST
MCMPy
Modulation
Control
Logic
CC6x/
COUT6x
MCMEN
CC63_O
T13MODENy
ReadOnly
PSLy
1
MUX
0
TRPS
MCL_OUTy
TRPENy
To
Output
Pins
CC6x
COUT6x
0: Passive State
1: Active State
x = 0, 1, 2
y = 0..5
To Other Blocks
MCA05544
Figure 18-40 Output Modulation, Timer T12 Block
WriteOnly
PSL63
Shadow
T13_ST
ReadOnly
PSL63
COUT63_O
Modulation
Control
Logic
COUT63
ECT13O
TRPS
TRPEN13
1
0
MCL_OUT63
To Other Blocks
MUX
To Output Pin
COUT63
0: Passive State
1: Active State
MCA05545
Figure 18-41 Output Modulation, Timer T13 Block
User’s Manual
CAPCOM6_X, V2.1
18-69
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Register PSLR defines the passive state level driven by the output pins of the module.
The passive state level is the value that is driven by the port pin during the passive state
of the output. During the active state, the corresponding output pin drives the active state
level, which is the inverted passive state level. The passive state level permits to adapt
the driven output levels to the driver polarity (inverted, not inverted) of the connected
power stage.
CCU6_PSLR
Passive State Level Register
XSFR (E8C4H/--)
Reset Value: 0000H
15
14
13
12
11
10
9
8
7
6
5
4
3
2
-
-
-
-
-
-
-
-
PSL
63
-
PSL
-
-
-
-
-
-
-
-
rwh
-
rwh
1
0
Field
Bits
Type
Description
PSL63
7
rwh
T13 Output COUT63 Passive State Level Control
This bitfield defines the passive level of the output pin
COUT63.
0
The passive level is 0
1
The passive level is 1
PSL
[5:0]
rwh
T12 Outputs Passive State Level Control
Defines the passive level driven by the module
outputs during the passive state.
0
The passive level is 0
1
The passive level is 1
PSL[5:0] corresponds to (left to right):
COUT62, CC62, COUT61, CC61, COUT60, CC60.
User’s Manual
CAPCOM6_X, V2.1
18-70
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.8
Shadow Register Transfer Control
Figure 18-42 and Figure 18-43 give an overview on the shadow register structure and
the shadow transfer signals, as well as on the read/write accessibility of the various
registers. Providing a shadow register for values describing one PWM period facilitates
a concurrent update by software for all relevant parameters. The next PWM period can
run with a new set of parameters.
Read
(T12)
PSLy
CC6xPS
Read
T12_ST
Write
(T12) PSLy
Shadow
CC6xPS
Shadow
Write
Read
Period Register
T12PR
COUT6xPS
Read
Write
Period Shadow
Register T12PR
COUT6xPS
Shadow
Write
Read
Compare Register
CC6xR
_
>1
Read
Write
Compare Shadow
Register CC6xSR
Other Modes
(Hall, Capture, etc.)
MCA05546
Figure 18-42 T12 Shadow Register and Transfer Signal Overview
User’s Manual
CAPCOM6_X, V2.1
18-71
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Read
PSL63
T13IM
Read
T13IM
Shadow
Write
T13_ST
Write
PSL63
Shadow
Read
Period Register
T13PR
Write
Period Shadow
Register T13PR
Read
Compare Register
CC63R
Read
Write
Compare Shadow
Register CC63SR
MCA05547
Figure 18-43 T13 Shadow Register and Transfer Signal Overview
User’s Manual
CAPCOM6_X, V2.1
18-72
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.9
Interrupt Generation
The interrupt structure is shown in Figure 18-44. The HW interrupt event or the SW
setting of the corresponding interrupt set bit (in register ISS) can trigger the interrupt
generation. The interrupt pulse is generated independently from the interrupt flag in
register IS. The interrupt flag can be reset by SW by writing to the corresponding bit in
register ISR.
If enabled by the related interrupt enable bit in register IEN, an interrupt pulse can be
generated on one of the four interrupt output lines, I0 … I3, of the module. If more than
one interrupt source is connected to the same interrupt node pointer (in register INP), the
requests are combined to one common line.
Interrupt Enable
Register IEN
16
CC60 Cap./Com. Rising
CC60 Cap./Com. Falling
Interrupt Status
Register IS
16
I0
CC6_INT
CC61 Cap./Com. Rising
CC61 Cap./Com. Falling
I1
CC6_EINT
CC62 Cap./Com. Rising
CC62 Cap./Com. Falling
I2
CC6_T12INT
I3
CC6_T13INT
T12 One-Match
T12 Period-Match
Interrupt Control Logic
T13 Compare-Match
T13 Period-Match
Correct Hall Event
MCM Shadow Transfer
14
Trap Condition
Wrong Hall Event
16
Interrupt Set
Register ISS
Node Pointer
Register INP
16
Interrupt Reset
Register ISR
MCA05548
Figure 18-44 Interrupt Structure Overview
User’s Manual
CAPCOM6_X, V2.1
18-73
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Int.
Flag
SW Request Reset
INPx
Set
SW Request Set
HW Interrupt
Event a
_
>1
_
>1
6
_
>1
Interrupt
Enable
_
>1
&
I2
_
>1
6
Int.
Flag
I1
_
>1
6
Set
SW Request Reset
I0
&
Interrupt
Enable
HW Interrupt
Event b
SW Request Set
_
>1
6
I3
From Other
Interrupt Sources
MCA05549
Figure 18-45 Interrupt Structure Detail
Interrupt Registers
Register IS contains the individual interrupt request and status bits. This register can
only be read, write actions have no impact on the contents of this register. Software can
set or reset the bits individually by writing to register ISS (to set the bits) or to register
ISR (to reset the bits).
CCU6_IS
Interrupt Status Register
15
14
13
12
STR IDLE WHE CHE
rh
rh
rh
rh
11
XSFR (E8D0H/--)
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
TRP TRP T13 T13 T12 T12 ICC ICC ICC ICC ICC ICC
S
F
PM CM PM OM 62F 62R 61F 61R 60F 60R
rh
rh
rh
rh
rh
rh
rh
rh
rh
rh
rh
rh
Field
Bits
Type
Description
STR
15
rh
Multi-Channel Mode Shadow Transfer Request
This bit is set when a shadow transfer from
MCMOUTS to MCMOUT takes places in multichannel mode.
0
The shadow transfer has not yet taken place
1
The shadow transfer has taken place
User’s Manual
CAPCOM6_X, V2.1
18-74
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Field
Bits
Type
Description
IDLE
14
rh
IDLE State Flag
If enabled (ENIDLE = 1), this bit is set together with
bit WHE (Wrong Hall Event). It has to be reset by SW.
0
No action
1
Bitfield MCMP is cleared, the selected outputs
are set to passive state
WHE
13
rh
Wrong Hall Event Flag
0
No wrong hall pattern yet
1
A transition to a wrong hall pattern (not the
expected one) has occurred
CHE
12
rh
Correct Hall Event Flag
0
No correct (= expected) hall pattern yet
1
A transition to an expected hall pattern has
occurred
TRPS1)
11
rh
Trap State Bit
0
The Trap State is not active
1
The Trap State is active. Bit TRPS is set while
bit TRPF = 1. It is reset according to the mode
selected in register TRPCTR.
TRPF
10
rh
Trap Flag
The trap flag TRPF is set either by HW, if
TRPPEN = 1 and CTRAP = 0, or by SW. If
TRPM2 = 0, bit TRPF is reset by HW if the input
CTRAP becomes inactive (TRPPEN = 1). If
TRPM2 = 1, bit TRPF has to be reset by SW in order
to leave the trap state.
0
The trap condition has not occurred
1
The trap condition has occurred (CTRAP = 0
or by SW)
T13PM
9
rh
Timer T13 Period-Match Flag
0
No T13 Period-Match yet
1
A T13 Period-Match has occurred
T13CM
8
rh
Timer T13 Compare-Match Flag
0
No T13 Compare-Match yet
1
A T13 Compare-Match has occurred
T12PM
7
rh
Timer T12 Period-Match Flag
0
No T12 Period-Match yet
1
A T12 Period-Match has occurred while
counting up
User’s Manual
CAPCOM6_X, V2.1
18-75
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Field
Bits
Type
Description
T12OM
6
rh
Timer T12 One-Match Flag
0
No T12 One-Match yet
1
A T12 One-Match has been detected while
counting down
ICC62F
ICC61F
ICC60F
5
3
1
rh
Capture, Compare-Match Falling Edge Flag
In compare mode, a Compare-Match has been
detected while T12 was counting down. In capture
mode, a falling edge has been detected at the input
CC6x (x = 0, 1, 2).
0
The event has not yet occurred
1
The event described above has occurred
ICC62R
ICC61R
ICC60R
4
2
0
rh
Capture, Compare-Match Rising Edge Flag
In compare mode, a compare-match has been
detected while T12 was counting up. In capture
mode, a rising edge has been detected at the input
CC6x (x = 0, 1, 2).
0
The event has not yet occurred
1
The event described above has occurred
1) During the trap state, the selected outputs are set to the passive state.
Note: Not all bits in register IS can generate an interrupt. Other status bits have been
added, which have a similar structure for their set and reset actions.
Note: In compare mode (and hall mode), the timer-related interrupts are only generated
while the timer is running (TxR = 1). In capture mode, the capture interrupts are
also generated while the Timer T12 is stopped.
User’s Manual
CAPCOM6_X, V2.1
18-76
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Registers ISS and ISR contain write-only bits corresponding to the interrupt and status
flags in register IS (except for bit 11). By writing 1s to these bits, software can set (ISS)
or clear (ISR) the associated flag(s). Reading these bits always returns 0s.
Setting a bit in register ISS will set the corresponding flag in register IS and may trigger
an interrupt request (if enabled and if available for that function).
Setting a bit in register ISR will clear the corresponding flag in register IS.
CCU6_ISS
Interrupt Status Set Register
15
14
13
12
11
10
XSFR (E8D2H/--)
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
TRP T13 T13 T12 T12 CC CC CC CC CC CC
STR IDLE WHE CHE WHC
F
PM CM PM OM 62F 62R 61F 61R 60F 60R
w
w
w
w
w
w
w
w
w
w
w
w
w
w
w
w
Field
Bits
Type
Description1)
SSTR
15
w
Set STR Flag
SIDLE
14
w
Set IDLE Flag
SWHE
13
w
Set Wrong Hall Event Flag
SCHE
12
w
Set Correct Hall Event Flag
SWHC
11
w
Software Hall Compare Trigger
STRPF
10
w
Set Trap Flag
ST13PM
9
w
Set Timer T13 Period-Match Flag
ST13CM
8
w
Set Timer T13 Compare-Match Flag
ST12PM
7
w
Set Timer T12 Period-Match Flag
ST12OM
6
w
Set Timer T12 One-Match Flag
SCC62F
SCC61F
SCC60F
5
3
1
w
Set Capture, Compare-Match Falling Edge Flag
SCC62R
SCC61R
SCC60R
4
2
0
w
Set Capture, Compare-Match Rising Edge Flag
1) Writing 1 to one of these bits will set the associated flag. Writing 0 has no effect.
User’s Manual
CAPCOM6_X, V2.1
18-77
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
CCU6_ISR
Interrupt Status Reset Reg.
15
14
13
12
R
R
R
R
STR IDLE WHE CHE
w
w
w
w
11
XSFR (E8D4H/--)
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
R
R
R
R
R
R
R
R
R
R
R
TRP T13 T13 T12 T12 CC CC CC CC CC CC
F
PM CM PM OM 62F 62R 61F 61R 60F 60R
-
w
w
w
w
w
w
w
w
w
w
w
Field
Bits
Type
Description1)
RSTR
15
w
Reset STR Flag
RIDLE
14
w
Reset IDLE Flag
RWHE
13
w
Reset Wrong Hall Event Flag
RCHE
12
w
Reset Correct Hall Event Flag
RTRPF
10
w
Reset Trap Flag
RT13PM
9
w
Reset Timer T13 Period-Match Flag
RT13CM
8
w
Reset Timer T13 Compare-Match Flag
RT12PM
7
w
Reset Timer T12 Period-Match Flag
RT12OM
6
w
Reset Timer T12 One-Match Flag
RCC62F
RCC61F
RCC60F
5
3
1
w
Reset Capture, Compare-Match Falling Edge Flag
RCC62R
RCC61R
RCC60R
4
2
0
w
Reset Capture, Compare-Match Rising Edge Flag
1) Writing 1 to one of these bits will clear the associated flag. Writing 0 has no effect.
Note: The set/clear bits in registers ISS and ISR can be written (set) via bit-operations
(e.g. BSET), logical operations (e.g. OR), or single MOV-operations (e.g.
executed via PEC).
User’s Manual
CAPCOM6_X, V2.1
18-78
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
Register IEN contains the interrupt enable bits and a control bit to enable the automatic
idle function in the case of a wrong hall pattern. Setting a bit in this register will enable
the interrupt request (or defined function for a bit). Clearing a bit disables the interrupt
request (or defined other function).
CCU6_IEN
Interrupt Enable Register
15
14
13
12
EN EN EN EN
STR IDLE WHE CHE
rw
rw
rw
rw
11
XSFR (E8D8H/--)
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
EN EN EN EN EN EN EN EN EN EN EN
TRP T13 T13 T12 T12 CC CC CC CC CC CC
F
PM CM PM OM 62F 62R 61F 61R 60F 60R
-
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
Field
Bits
Type
Description
ENSTR
15
rw
Enable MCM Shadow Transfer Interrupt
ENIDLE
14
rw
Enable Idle Flag Set Function
ENWHE
13
rw
Enable Wrong Hall Event Interrupt
ENCHE
12
rw
Enable Correct Hall Event Interrupt
ENTRPF
10
rw
Enable Trap Flag Interrupt
ENT13PM
9
rw
Enable T13 Period-Match Interrupt
ENT13CM
8
rw
Enable T13 Compare-Match Interrupt
ENT12PM
7
rw
Enable T12 Period-Match Interrupt
ENT12OM
6
rw
Enable T12 One-Match Interrupt
ENCC62F
ENCC61F
ENCC60F
5
3
1
rw
Enable Capture, Compare-Match Interrupt
upon Falling Edge
ENCC62R
ENCC61R
ENCC60R
4
2
0
rw
Enable Capture, Compare-Match Interrupt
upon Rising Edge
User’s Manual
CAPCOM6_X, V2.1
0
18-79
rw
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
The interrupt sources of the CAPCOM6 module can be mapped to four interrupt nodes
by programming the interrupt node pointer register CC6_INP. The encoding valid for all
bitfields is shown in Table 18-11.
CCU6_INP
Interrupt Node Pointer Reg.
13
12
11
10
XSFR (E8D6H/--)
15
14
-
-
INP
T13
INP
T12
INP
ERR
INP
CHE
INP
CC62
INP
CC61
INP
CC60
-
-
rw
rw
rw
rw
rw
rw
rw
Type
9
8
7
6
Reset Value: 3940H
5
4
3
2
1
0
Field
Bits
Description
INPT13
[13:12] rw
Interrupt Node Pointer for Timer13 Interrupt
This bitfield selects the interrupt request line for
source T13CM and/or source T13PM.
INPT12
[11:10] rw
Interrupt Node Pointer for Timer12 Interrupts
This bitfield selects the interrupt request line for
source T12OM and/or source T12PM.
INPERR
[9:8]
rw
Interrupt Node Pointer for Error Interrupts
This bitfield selects the interrupt request line for
source TRPF and/or source WHE.
INPCHE
[7:6]
rw
Interrupt Node Pointer for the CHE Interrupt
This bitfield selects the interrupt request line for
source CHE and/or source STR.
INPCC62
INPCC61
INPCC60
[5:4]
[3:2]
[1:0]
rw
Interrupt Node Pointer for Channel x Interrupts
This bitfield selects the interrupt request line for
source CC6xR and/or source CC6xF.
Table 18-11 Encoding of Interrupt Node Pointer Bitfields
Bitfield INPxx
Interrupt Output Line to be Activated
00B
I0
01B
I1
10B
I2
11B
I3
The default assignment of the interrupt sources to the nodes and their corresponding
control registers are listed in Table 18-12.
User’s Manual
CAPCOM6_X, V2.1
18-80
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
All interrupt control registers have the same structure. The basic register layout is shown
below, Table 18-12 lists the associated addresses.
CCU6_xIC
CAPCOM6 Intr. Ctrl. Reg.
15
14
13
12
11
ESFR (Table 18-12)
10
9
-
-
-
-
8
GPX
-
-
-
rw
7
6
Reset Value: - - 00H
5
4
CCy CCy
IR
IE
rwh
rw
3
2
1
0
ILVL
GLVL
rw
rw
Note: Please refer to the general Interrupt Control Register description for an
explanation of the control fields.
Table 18-12 CAPCOM6 Default Interrupt Node Register Assignment
Source of Interrupt
Interrupt
Request Nr.
Interrupt Control
Register
Register Address
Channel 0 Interrupts
I0
CCU6_IC
F140H
Channel 1 Interrupts
I0
Channel 2 Interrupts
I0
Correct Hall Pattern
Interrupt
I1
CCU6_EIC
F188H
Emergency Interrupts
I1
Timer T12 Interrupts
I2
CCU6_T12IC
F190H
Timer T13 Interrupts
I3
CCU6_T13IC
F198H
User’s Manual
CAPCOM6_X, V2.1
18-81
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.10
Suspend Mode
In suspend mode, the functional clock fCC6 of the module kernel is stopped. The registers
can still be accessed by the CPU (read only). This mode is useful for debugging
purposes, e.g. where the current device status should be ‘frozen’ in order to get a
snapshot of the internal values. In suspend mode, the timers T12 and T13 are not
running. The suspend mode is non-intrusive concerning the register bits. This means,
register bits are not changed by hardware when entering or leaving the suspend mode.
Software actions are also not required. In suspend mode, all registers can be accessed
by read instructions for debugging purposes.
The suspend mode can be entered when the suspend mode is requested, the suspend
mode is enabled and the module has reached a safe, deterministic state (like the timer
stop conditions in single shot mode). This behavior avoids critical situations if a power
inverter is connected to the module’s outputs.
The suspend request can lead to a behavior of the output signals equivalent to the trap
case (see bit SUSCFG in register CCU6_TCTR2).
User’s Manual
CAPCOM6_X, V2.1
18-82
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Capture/Compare Unit 6 (CAPCOM6)
18.11
Interfaces of the CAPCOM6 Unit
The CAPCOM6 units is connected to its environment in different ways.
Internal Connections
The 4 interrupt request lines of the CAPCOM6 unit are connected to the interrupt control
block.
The period match signal of timer T13 (T13_PM) is connected to the ADC, as a possible
trigger source for injected conversions.
External Connections
The signals of the CAPCOM6 unit are connected with input/output ports of the XC167.
These ports may provide capture trigger signals from the external system, issue
compare output signals to external circuitry, or accept control input signals.
System
Control
Unit (SCU)
fCC6
CC60
CC6DIS
COUT60
CAPCOM6
Module
CCU6IRQ
Interrupt
Control
CCU6EIRQ
CCU6T12IRQ
CCU6T13IRQ
CC61
CCOUT61
CC62
I0
CCOUT62
I1
CCOUT63
I2
I3
CTRAP
CC6POS0
ADC
CC6POS1
CCU6T13PM
CC6POS2
P1L.0
P1L.1
P1L.2
P1L.3
P1L.4
P1L.5
P1L.6
P1L.7
P1H.0
P1H.1
P1H.2
MCA05550
Figure 18-46 CAPCOM6 Unit Interfaces
User’s Manual
CAPCOM6_X, V2.1
18-83
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
19
Asynchronous/Synchronous Serial Interface (ASC)
The XC167 contains two Asynchronous/Synchronous Serial Interfaces, ASC0 and
ASC1. The following sections present the general features and operations of such an
ASC module. The final section describes the actual implementation of the two ASC
modules including their interconnections with other on-chip modules.
The ASC supports full-duplex asynchronous communication and half-duplex
synchronous communication. The ASC provides the following features and functions.
Features and Functions
•
•
•
•
•
•
•
•
•
Full-duplex asynchronous operating modes
– 8- or 9-bit data frames, LSB first
– Parity bit generation/checking
– One or two stop bits
– Baudrate from 2.5 Mbit/s to 50 bit/s (@ 40 MHz module clock fASC)
Multiprocessor Mode for automatic address/data byte detection
Loopback capability
Support for IrDA data transmission up to 115.2 kbit/s maximum
Half-duplex 8-bit synchronous operating mode
– Baudrate from 5 Mbit/s to 202 bit/s (@ 40 MHz module clock fASC)
Double buffered transmitter/receiver
Interrupt generation
– On a transmitter buffer empty condition
– On a transmit last bit of a frame condition
– On a receiver buffer full condition
– On an error condition (frame, parity, overrun error)
Autobaud detection unit for asynchronous operating modes
– Detection of standard baudrates
1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200, and 230400 bit/s
– Detection of non-standard baudrates
– Detection of Asynchronous Modes
– 7 bit, even parity; 7 bit, odd parity; 8 bit, even parity; 8 bit, odd parity; 8 bit, no parity
– Automatic initialization of control bits and baudrate generator after detection
– Detection of a serial two-byte ASCII character frame
FIFO
– 8-stage receive FIFO (RXFIFO), 8-stage transmit FIFO (TXFIFO)
– Independent control of RXFIFO and TXFIFO
– 9-bit FIFO data width
– Programmable Receive/Transmit Interrupt Trigger Level
– Receive and transmit FIFO filling level indication
– Overrun and Underflow error generation
Figure 19-1 shows all functional relevant interfaces associated with the ASC Kernel.
User’s Manual
ASC_X8, V2.1
19-1
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Bus Interface
Module
Product Interface
fASC
Clock
Control
ASCxDIS
Address
Decoder
TxD
TIR
TBIR
Interrupt
Control
ASC
Module
(Kernel)
RxD
Port
Control
RIR
EIR
ABSTIR
ABDETIR
MCA05432
Figure 19-1 ASC Interface Diagram
User’s Manual
ASC_X8, V2.1
19-2
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
19.1
Operational Overview
Figure 19-2 shows a block diagram of the ASC with its operating modes (Asynchronous
and Synchronous Mode).
Asynchronous Mode
fASC
Prescaler /
Fractional
Divider
fDIV
Autobaud
Detection
Baudrate
Timer
Serial Port
Control
RxD
MUX
IrDA
Decoding
Receive / Transmit
Buffers and
Shift Registers
MUX
IrDA
Decoding
TxD
Synchronous Mode
fASC
2
or
3
Baudrate
Timer
Serial Port
Control
TxD
Shift Clock
Receive / Transmit
Buffers and
Shift Registers
RxD
RxD
MCB05433
Figure 19-2 Block Diagram of the ASC
The ASC supports full-duplex asynchronous communication with up to 2.5 Mbit/s and
half-duplex synchronous communication with up to 5 Mbit/s (@ 40 MHz module clock).
In Synchronous Mode, data are transmitted or received synchronous to a shift clock that
is generated by the microcontroller. In Asynchronous Mode, either 8- or 9-bit data
transfer, parity generation, and the number of stop bits can be selected. Parity, framing,
and overrun error detection is provided to increase the reliability of data transfers.
Transmission and reception of data is double-buffered. For multiprocessor
communication, a mechanism is provided to distinguish address bytes from data bytes.
User’s Manual
ASC_X8, V2.1
19-3
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Testing is supported by a loop-back option. A 13-bit baudrate timer with a versatile input
clock divider circuitry provides the serial clock signal. In a Special Asynchronous Mode,
the ASC supports IrDA data transmission up to 115.2 kbit/s with fixed or programmable
IrDA pulse width. Autobaud Detection allows to detect asynchronous data frames with
its baudrate and mode with automatic initialization of the baudrate generator and the
mode control bits.
A transmission is started by writing to the transmit buffer register TBUF. The selected
operating mode determines the number of data bits that will actually be transmitted, so
that, bits written to positions 9 through 15 of register TBUF are always insignificant. Data
transmission is double-buffered, so a new character may be written to the transmit buffer
register before the transmission of the previous character is complete. This allows the
transmission of characters back-to-back without gaps.
Data reception is enabled by the Receiver Enable Bit REN. After reception of a character
has been completed, the received data can be read from the (read-only) receive buffer
register RBUF; the received parity bit can also be read if provided by the selected
operating mode. Bits in the upper half of RBUF that are not valid in the selected operating
mode will be read as zeros.
Data reception is double-buffered, so that reception of a second character may already
begin before the previously received character has been read out of the receive buffer
register. In all modes, receive overrun error detection can be selected through bit OEN.
When enabled, the overrun error status flag OE and the error interrupt request line EIR
will be activated when the receive buffer register has not been read by the time reception
of a ninth character is complete. The previously received character in the receive buffer
is overwritten.
The Loopback Mode (selected by bit LB) allows the data currently being transmitted to
be received simultaneously in the receive buffer. This may be used to test serial
communication routines at an early stage without having to provide an external network.
Note: In Loopback Mode, the alternate input/output functions of the associated port pins
are not necessary.
Note: Serial data transmission or reception is only possible when the Baudrate
Generator Run bit R is set. Otherwise, the serial interface is idle.
Note: Do not program the Mode Control bitfield M to one of the reserved combinations
to avoid unpredictable behavior of the serial interface.
The operating mode of the serial channel ASC is controlled by its control register
ASCx_CON. This register contains control bits for mode and error check selection, and
status flags for error identification.
User’s Manual
ASC_X8, V2.1
19-4
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
19.2
Asynchronous Operation
Asynchronous Mode supports full-duplex communication in which both transmitter and
receiver use the same data frame format and the same baudrate. Data is transmitted on
line TxD and received on line RxD. IrDA data transmission/reception is supported up to
115.2 kbit/s. Figure 19-3 shows the block diagram of the ASC when operating in
Asynchronous Mode.
CON.FDE CON.BRS
13-bit Reload Register
Fractional
Divider
fASC
MUX
fDIV
2
Autobaud
Start Int.
ABSTIR
Autobaud Detection
ABDETIR
Autobaud
Detect Int.
CON.FE
CON.PE
CON.OE
RIR
Shift Clock
TIR
Serial Port Control
FIFO
Shift Clock Control
TBIR
EIR
Receive Int.
Request
Transmit Int.
Request
Transmit Buffer
Int. Request
Error Int.
Request
Receive Shift
Register
Transmit Shift
Register
IrDA
Decoding
Receive Buffer Reg.
RBUF
Transmit Buffer Reg.
TBUF
MUX
Sampling
IrDA
Coding
Internal Bus
MUX
RxD
MUX
CON.ODD
CON.STP
CON.M
CON.REN
CON.FEN
CON.PEN
CON.OEN
CON.LB
fBR
fBRT
3
CON.R
MUX
16
13-bit Baudrate Timer
1
1
TxD
MCA05434
Figure 19-3
User’s Manual
ASC_X8, V2.1
Asynchronous Mode of Serial Channel ASC
19-5
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
19.2.1
Asynchronous Data Frames
8-Bit Data Frames
8-bit data frames consist of either eight data bits D7 … D0 (M = 001B), or seven data bits
D6 … D0 plus an automatically generated parity bit (M = 011B). Parity may be odd or
even, depending on bit ODD. An even parity bit will be set if the modulo-2-sum of the
7 data bits is 1. An odd parity bit will be cleared in this case. Parity checking is enabled
via bit PEN (always OFF in 8-bit data mode). The parity error flag PE will be set, along
with the error interrupt request flag, if a wrong parity bit is received. The parity bit itself
will be stored in bit RBUF.7.
10-/11-bit UART Frame
8 Data Bits
1
M = 001B
Start
D0
Bit
LSB
0
D1
D2
D3
D4
D5
D6
1
(1st) (2nd)
D7
Stop Stop
MSB
Bit
Bit
10-/11-bit UART Frame
7 Data Bits
1
M = 011B
Start
D0
Bit
LSB
0
D1
D2
D3
D4
D5
1
(1st) (2nd)
D6 Parity
Stop Stop
MSB Bit
Bit
Bit
MCT05435
Figure 19-4 Asynchronous 8-Bit Frames
User’s Manual
ASC_X8, V2.1
19-6
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
9-Bit Data Frames
9-bit data frames consist of either nine data bits D8 … D0 (M = 100B), eight data bits
D7 … D0 plus an automatically generated parity bit (M = 111B), or eight data bits
D7 … D0 plus wake-up bit (M = 101B). Parity may be odd or even, depending on bit
ODD. An even parity bit will be set if the modulo-2-sum of the 8 data bits is 1. An odd
parity bit will be cleared in this case. Parity checking is enabled via bit PEN (always OFF
in 9-bit data and wake-up mode). The parity error flag PE will be set, along with the error
interrupt request flag, if a wrong parity bit is received. The parity bit itself will be stored
in bit RBUF.8.
11-/12-bit UART Frame
9 Data Bits
1
Start
D0
Bit
LSB
0
D1
D2
D3
D4
D5
D6
D7
1
(1st) (2nd)
Bit 9 Stop Stop
Bit
Bit
CON.M = 100B : Bit 9 = Data Bit D8
CON.M = 101B : Bit 9 = Wake-up Bit
CON.M = 111B : Bit 9 = Parity Bit
MCT05436
Figure 19-5 Asynchronous 9-Bit Frames
In wake-up mode, received frames are transferred to the receive buffer register only if
the 9th bit (the wake-up bit) is 1. If this bit is 0, no receive interrupt request will be
activated and no data will be transferred.
This feature may be used to control communication in a multi-processor system:
When the master processor wants to transmit a block of data to one of several slaves, it
first sends out an address byte to identify the target slave. An address byte differs from
a data byte in that the additional 9th bit is a 1 for an address byte, but is a 0 for a data
byte; so, no slave will be interrupted by a data ‘byte’. An address ‘byte’ will interrupt all
slaves (operating in 8-bit data + wake-up bit mode), so each slave can examine the eight
LSBs of the received character (the address). The addressed slave will switch to 9-bit
data mode (such as by clearing bit M[0]), to enable it to also receive the data bytes that
will be coming (having the wake-up bit cleared). The slaves not being addressed remain
in 8-bit data + wake-up bit mode, ignoring the following data bytes.
User’s Manual
ASC_X8, V2.1
19-7
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
IrDA Frames
The modulation schemes of IrDA are based on standard asynchronous data
transmission frames. The asynchronous data format in IrDA Mode (M = 010B) is defined
as follows:
1 start bit/8 data bits/1 stop bit
The coding/decoding of/to the asynchronous data frames is shown in Figure 19-6. In
general, during IrDA transmissions, UART frames are encoded into IR frames and vice
versa. A low level on the IR frame indicates an “LED off” state. A high level on the IR
frame indicates an “LED on” state.
For a 0-bit in the UART frame, a high pulse is generated. For a 1-bit in the UART frame,
no pulse is generated. The high pulse starts in the middle of a bit cell and has a fixed
width of 3/16 of the bit time. The ASC also allows the length of the IrDA high pulse to be
programmed. Further, the polarity of the received IrDA pulse can be inverted in IrDA
Mode. Figure 19-6 shows the non-inverted IrDA pulse scheme.
UART Frame
8 Data Bits
Start
Bit
Stop
Bit
0
1
0
1
0
0
1
1
0
1
IR Frame
8 Data Bits
Start
Bit
0
Stop
Bit
1
0
Bit Time
1
0
0
1
1/2-bit Time
1
0
1
Pulse Width =
3/16-bit Time
(or variable length)
MCT05437
Figure 19-6 IrDA Frame Encoding/Decoding
The ASC IrDA pulse mode/width register PMW contains the 8-bit IrDA pulse width value
and the IrDA pulse width mode select bit. This register is required in the IrDA operating
mode only.
User’s Manual
ASC_X8, V2.1
19-8
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
19.2.2
Asynchronous Transmission
Asynchronous transmission begins at the next overflow of the divide-by-16 baudrate
timer (transition of the baudrate clock fBR), if bit R is set and data has been loaded into
TBUF. The transmitted data frame consists of three basic elements:
•
•
•
Start bit
Data field (eight or nine bits, LSB first, including a parity bit, if selected)
Delimiter (one or two stop bits)
Data transmission is double-buffered. When the transmitter is idle, the transmit data
loaded in the transmit buffer register is immediately moved to the transmit shift register,
thus freeing the transmit buffer for the next data to be sent. This is indicated by the
transmit buffer interrupt request line TBIR being activated. TBUF may now be loaded
with the next data, while transmission of the previous data continues.
The transmit interrupt request line TIR will be activated before the last bit of a frame is
transmitted, that is, before the first or the second stop bit is shifted out of the transmit
shift register.
Note: The transmitter output pin TxD must be configured for alternate data output.
19.2.3
Transmit FIFO Operation
The transmit FIFO (TXFIFO) provides the following functionality:
•
•
•
•
•
Enable/disable control
Programmable filling level for transmit interrupt generation
Filling level indication
FIFO clear (flush) operation
FIFO overflow error generation
The 8-stage transmit FIFO is controlled by the TXFCON control register. When bit
TXFEN is set, the transmit FIFO is enabled. The interrupt trigger level defined by TXFITL
defines the filling level of the TXFIFO at which a transmit buffer interrupt TBIR or a
transmit interrupt TIR is generated. These interrupts are always generated when the
filling level of the transmit FIFO is equal to or less than the value stored in TXFITL.
Bitfield TXFFL in the FIFO status register ASCx_FSTAT indicates the number of entries
that are actually written (valid) in the TXFIFO. Therefore, the software can verify, in the
interrupt service routine, for instance, how many bytes can still be written into the
transmit FIFO via register TBUF without getting an overrun error.
The transmit FIFO cannot be accessed directly. All data write operations into the TXFIFO
are executed by writing into the TBUF register.
User’s Manual
ASC_X8, V2.1
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V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
TXFCON.TXFITL = 0011 B
Byte 6
Byte 6
Byte 6
Byte 7
Byte 7
Byte 6
Byte 6
Byte 5
Byte 5
Byte 5
Byte 5
Byte 4
Byte 4
Byte 6
Byte 5
Byte 5
Byte 4
Byte 4
Byte
4 3
Byte
Byte 3
Byte
3
Byte
Byte
3 22
Byte
Byte 2
Byte 2
Byte 2
FSTAT. 0000
TXFFL
TxD
TXFIFO
Empty
Byte 3
0101
Byte 1
TBIR
Byte 7
0100
0011
Byte 2
TBIR
Writing Byte 1
Writing Byte 2
Writing Byte 3
Writing Byte 4
Writing Byte 5
Writing Byte 6
0010
Byte 3
0010
Byte 4
TIR
TBIR
0001
Byte 5
TIR
TBIR
TIR
TBIR
0000
Byte 6
Byte 7
TIR
TBIR
TIR
Writing Byte 7
MCT05438
Figure 19-7 Transmit FIFO Operation Example
The example in Figure 19-7 shows a typical 8-stage transmit FIFO operation. In this
example seven bytes are transmitted via the TxD output line. The transmit FIFO interrupt
trigger level TXFITL is set to 0011B. The first byte written into the empty TXFIFO via
TBUF is directly transferred into the transmit shift register and is not written into the FIFO.
A transmit buffer interrupt will be generated in this case. After byte 1, bytes 2 to 6 are
written into the transmit FIFO.
After the transfer of byte 3 from the TXFIFO into the transmit shift register of the ASC,
3 bytes remain in the TXFIFO. Therefore, the value of TXFITL is reached and a transmit
buffer interrupt will be generated at the beginning and a transmit interrupt at the end of
the byte 3 serial transmission. During the serial transmission of byte 4, another byte
(byte 7) is written into the TXFIFO (TBUF write operation). Finally, after the start of the
serial transmission of byte 7, the TXFIFO is again empty.
User’s Manual
ASC_X8, V2.1
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XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
If the TXFIFO is full and additional bytes are written into TBUF, the error interrupt will be
generated with bit OE set. In this case, the data byte that was last written into the transmit
FIFO is overwritten and the transmit FIFO filling level TXFFL is set to maximum.
The TXFIFO can be flushed or cleared by setting bit TXFFLU in register
ASCx_TXFCON. After this TXFIFO flush operation, the TXFIFO is empty and the
transmit FIFO filling level TXFFL is set to 0000B. A running serial transmission is not
aborted by a receive FIFO flush operation.
Note: The TXFIFO is flushed automatically with a reset operation of the ASC module
and if the TXFIFO becomes disabled (resetting bit TXFEN) after it was previously
enabled.
User’s Manual
ASC_X8, V2.1
19-11
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
19.2.4
Asynchronous Reception
Asynchronous reception is initiated by a falling edge (1-to-0 transition) on line RxD,
provided that bits R and REN are set. The receive data input line RxD is sampled at
16 times the rate of the selected baudrate. A majority decision of the 7th, 8th, and 9th
sample determines the effective bit value. This avoids erroneous results that may be
caused by noise.
If the detected value is not a 0 when the start bit is sampled, the receive circuit is reset
and waits for the next 1-to-0 transition at line RxD. If the start bit proves valid, the receive
circuit continues sampling and shifts the incoming data frame into the receive shift
register.
When the last stop bit has been received, the content of the receive shift register are
transferred to the receive data buffer register RBUF. Simultaneously, the receive
interrupt request line RIR is activated after the 9th sample in the last stop bit time slot (as
programmed), regardless of whether valid stop bits have been received or not. The
receive circuit then waits for the next start bit (1-to-0 transition) at the receive data input
line.
Note: The receiver input pin RxD must be configured for input.
Asynchronous reception is stopped by clearing bit REN. A currently received frame is
completed including the generation of the receive interrupt request and an error interrupt
request, if appropriate. Start bits that follow this frame will not be recognized.
Note: In wake-up mode, received frames are transferred to the receive buffer register
only if the 9th bit (the wake-up bit) is 1. If this bit is 0, no receive interrupt request
will be activated and no data will be transferred.
19.2.5
Receive FIFO Operation
The receive FIFO (RXFIFO) provides the following functionality:
•
•
•
•
•
Enable/disable control
Programmable filling level for receive interrupt generation
Filling level indication
FIFO clear (flush) operation
FIFO overflow error generation
The 8-stage receive FIFO is controlled by the RXFCON control register. When bit
RXFEN is set, the receive FIFO is enabled. The interrupt trigger level defined by RXFITL
defines the filling level of RXFIFO at which a receive interrupt RIR is generated. RIR is
always generated when the filling level of the receive FIFO is equal to or greater than the
value stored in RXFITL.
Bitfield RXFFL in the FIFO status register ASCx_FSTAT indicates the number of bytes
that have been actually written into the FIFO and can be read out of the FIFO by a user
program.
User’s Manual
ASC_X8, V2.1
19-12
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
The receive FIFO cannot be accessed directly. All data read operations from the
RXFIFO are executed by reading the RBUF register.
RXFCON.RXFITL = 0011 B
Byte 6
Byte 4
Content of
FSTAT.RXFFL
0000
RxD
Byte 1
Byte 1
0001
Byte 2
Byte 3
Byte 3
Byte 2
Byte 2
Byte 2
Byte 1
Byte 1
Byte 1
0010
0011
Byte 3
RIR
0100
Byte 4
RIR
Byte 4
0001
Byte 5
Byte 5
Byte 5
Byte 4
Byte 4
RXFIFO
Empty
0100
0000
0010
Byte 6
RIR
Read RBUF (Byte 1)
Read RBUF (Byte 2)
Read RBUF (Byte 3)
Read RBUF (Byte 4)
Read RBUF (Byte 5)
Read RBUF (Byte 6)
MCT05439
Figure 19-8 Receive FIFO Operation Example
The example in Figure 19-8 shows a typical 8-stage receive FIFO operation. In this
example, six bytes are received via the RxD input line. The receive FIFO interrupt trigger
level RXFITL is set to 0011B. Therefore, the first receive interrupt RIR is generated after
the reception of byte 3 (RXFIFO is filled with three bytes).
After the reception of byte 4, three bytes are read out of the receive FIFO. After this read
operation, the RXFIFO still contains one byte. RIR becomes again active after two more
bytes (byte 5 and 6) have been received (RXFIFO filled again with 3 bytes). Finally, the
FIFO is cleared after three read operation.
If the RXFIFO is full and additional bytes are received, the receive interrupt RIR and the
error interrupt EIR will be generated with bit OE set. In this case, the data byte last written
into the receive FIFO is overwritten. With the overrun condition, the receive FIFO filling
level RXFFL is set to maximum. If a RBUF read operation is executed with the RXFIFO
User’s Manual
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19-13
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XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
enabled but empty, an error interrupt EIR will be generated as well with bit OE set. In this
case, the receive FIFO filling level RXFFL is set to 0000B.
If the RXFIFO is available but disabled (RXFEN = 0) and the receive operation is enabled
(REN = 1), the asynchronous receive operation is functionally equivalent to the
asynchronous receive operation of the ASC module.
The RXFIFO can be flushed or cleared by setting bit RXFFLU in register RXFCON. After
this RXFIFO flush operation, the RXFIFO is empty and the receive FIFO filling level
RXFFL is set to 0000B.
The RXFIFO is flushed automatically with a reset operation of the ASC module and if the
RXFIFO becomes disabled (resetting bit RXFEN) after it was previously enabled.
Resetting bit REN without resetting RXFEN does not affect (reset) the RXFIFO state.
This means that the receive operation of the ASC is stopped, in this case, without
changing the content of the RXFIFO. After setting REN again, the RXFIFO with its
content is again available.
Note: After a successful autobaud detection sequence (if implemented), the RXFIFO
should be flushed before data is received.
User’s Manual
ASC_X8, V2.1
19-14
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
19.2.6
FIFO Transparent Mode
In Transparent Mode, a specific interrupt generation mechanism is used for receive and
transmit buffer interrupts. In general, in Transparent Mode, receive interrupts are always
generated if data bytes are available in the RXFIFO. Transmit buffer interrupts are
always generated if the TXFIFO is not full. The relevant conditions for interrupt
generation in Transparent Mode are:
•
•
FIFO filling levels
Read/write operations on the RBUF/TBUF data register
Interrupt generation for the receive FIFO depends on the RXFIFO filling level and the
execution of read operations of register RBUF (see Figure 19-9). Transparent Mode for
the RXFIFO is enabled when bits RXTMEN and RXFEN in register ASCx_RXFCON are
set.
Content of
RXFCON.
RXFFL
0000
RxD
Byte 1
0001
Byte 2
0010
Byte 3
0011
0100
0011
0010
0001
0001
Byte 4
RIR (2) RIR (3) RIR (4)
RIR (1)
Read
RBUF
Read Read
Byte 1 Byte 2
Read Read
Byte 3 Byte 4
MCT05440
Figure 19-9 Transparent Mode Receive FIFO Operation
If the RXFIFO is empty, a receive interrupt RIR is always generated when the first byte
is written into an empty RXFIFO (RXFFL changes from 0000B to 0001B). If the RXFIFO
is filled with at least one byte, the occurrence of further receive interrupts depends on the
read operations of register RBUF. The receive interrupt RIR will always be activated after
a RBUF read operation if the RXFIFO still contains data (RXFFL is not equal to 0000B).
If the RXFIFO is empty after a RBUF read operation, no further receive interrupt will be
generated.
If the RXFIFO is full (RXFFL = maximum) and additional bytes are received, an error
interrupt EIR will be generated with bit OE set. In this case, the data byte last written into
the receive FIFO is overwritten. If a RBUF read operation is executed with the RXFIFO
enabled but empty (underflow condition), an error interrupt EIR will be generated as well,
with bit OE set.
If the RXFIFO is flushed in Transparent Mode, the software must take care that a
previous pending receive interrupt is ignored.
User’s Manual
ASC_X8, V2.1
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V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Note: The Receive FIFO Interrupt Trigger Level bitfield RXFITL is a don’t care in
Transparent Mode.
Interrupt generation for the transmit FIFO depends on the TXFIFO filling level and the
execution of write operations to the register TBUF. Transparent Mode for the TXFIFO is
enabled when bits TXTMEN and TXFEN are set.
A transmit buffer interrupt TBIR is always generated when the TXFIFO is not full (TXFFL
not equal to maximum) after a byte has been written into register ASCx_TBUF. TBIR is
also activated after a TXFIFO flush operation or when the TXFIFO becomes enabled
(TXTMEN and TXFEN set) when it was previously disabled. In these cases, the TXFIFO
is empty and ready to be filled with data.
If the TXFIFO is full (TXFFL = maximum) and an additional byte is written into TBUF, no
further transmit buffer interrupt will be generated after the TBUF write operation. In this
case the data byte last written into the transmit FIFO is overwritten and an overrun error
interrupt (EIR) will be generated with bit OE set.
Note: The Transmit FIFO Interrupt Trigger Level bitfield TXFITL is a don’t care in
Transparent Mode.
19.2.7
IrDA Mode
The duration of the IrDA pulse is normally 3/16 of a bit period. The IrDA standard also
allows the pulse duration to be independent of the baudrate or bit period. In this case,
the width of the transmitted pulse always corresponds to the 3/16 pulse width at
115.2 kbit/s, which is 1.627 µs. Either fixed or bit-period-dependent IrDA pulse width
generation can be selected. The IrDA pulse width mode is selected by bit IRPW.
In case of fixed IrDA pulse width generation, the lower eight bits in register PMW are
used to adapt the IrDA pulse width to a fixed value such as 1.627 µs. The fixed IrDA
pulse width is generated by a programmable timer as shown in Figure 19-10.
PWM
tIPW
Start
Timer
fASC
8-bit Timer
IrDA Pulse
MCA05441
Figure 19-10 Fixed IrDA Pulse Generation
The IrDA pulse width can be calculated according the formulas given in Table 19-1.
Note: The name PMW in the formulas of Table 19-1 represents the contents of the pulse
mode/width register PMW (PW_VALUE), taken as an unsigned 8-bit integer.
User’s Manual
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19-16
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Table 19-1
Formulas for IrDA Pulse Width Calculation
PMW
PMW_IPMW
1 … 255
0
Formulas
PMW >> 1 )t IPW min = (-------------------------------f ASC
3
t IPW = --------------------------------------16 × Baudrate
1
t IPW = PMW
--------------f ASC
The contents of PW_VALUE further define the minimum IrDA pulse width (tIPW min) that
is still recognized as a valid IrDA pulse during a receive operation. This function is
independent of the selected IrDA pulse width mode (fixed or variable) which is defined
by bit IRPW. The minimum IrDA pulse width is calculated by a shift right operation of
PMW bit 7-0 by one bit divided by the module clock fASC.
Note: If IRPW is cleared (fixed IrDA pulse width), PW_VALUE must be a value which
assures that tIPW > tIPW min.
Table 19-2 gives examples for typical frequencies of fASC.
Table 19-2
IrDA Pulse Width Adaption to 1.627 µs
fASC
PMW
tIPW
Error
tIPW min
20 MHz
33
1.650 µs
+1.4%
0.8 µs
40 MHz
65
1.625 µs
-0.1%
0.8 µs
19.2.8
RxD/TxD Data Path Selection in Asynchronous Modes
The data paths for the serial input and output data in Asynchronous Mode are affected
by several control bits in the registers CON and ABCON as shown in Figure 19-11. The
Synchronous Mode operation is not affected by these data path selection capabilities.
The input signal from RxD passes an inverter which is controlled by bit RXINV. The
output signal of this inverter is used for the Autobaud Detection and may bypass the logic
in the Echo Mode (controlled by bit ABEM). Further, two multiplexers are in the RxD input
signal path for providing the Loopback Mode capability (controlled by bit LB) and the
IrDA receive pulse inversion capability (controlled by bit RxDI).
Depending on the Asynchronous Mode (controlled by bitfield M), output signal or the
RxD input signal in Echo Mode (controlled by bit ABEM) is switched to the TxD output
via an inverter (controlled by bit TXINV).
User’s Manual
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Autobaud Detection
ABCON
RXINV
RxD
TXINV
ABEM
MUX
MUX
MUX
IrDA
Coding
IrDA
Decode
ASC
Asynch. Mode Logic
MUX
MUX
MUX
TxD
CON
LB
RxDI
M
MCA05442
Figure 19-11 RxD/TxD Data Path in Asynchronous Modes
Note: In Echo Mode the transmit output signal is blocked by the Echo Mode output
multiplexer. Figure 19-11 shows that it is not possible to use an IrDA coded
receiver input signal for Autobaud Detection.
User’s Manual
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19-18
V1.0, 2004-06
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
19.3
Synchronous Operation
Synchronous Mode supports half-duplex communication, basically for simple I/O
expansion via shift registers. Data is transmitted and received via line RxD while line TxD
outputs the shift clock.
Synchronous Mode is selected with bitfield M = 000B.
Eight data bits are transmitted or received synchronous to a shift clock generated by the
internal baudrate generator. The shift clock is active only as long as data bits are
transmitted or received.
13-bit Reload Register
fASC
MUX
2
fDIV
13-bit Baudrate Timer
fBRT
3
R
4
fBR
BRS
M = 000B
OE
RIR
Shift Clock
REN
OEN
LB
TxD
RxD
TIR
Serial Port Control
FIFO
Shift Clock Control
0
1
MUX
TBIR
EIR
Receive Int.
Request
Transmit Int.
Request
Transmit Buffer
Int. Request
Error Int.
Request
Receive Shift
Register
Transmit Shift
Register
Receive FIFO Reg.
RBUF
Transmit FIFO Reg.
TBUF
Internal Bus
MCA05443
Figure 19-12 Synchronous Mode of Serial Channel ASC
User’s Manual
ASC_X8, V2.1
19-19
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
19.3.1
Synchronous Transmission
Synchronous transmission begins within four state times after data has been loaded into
TBUF, provided that bit R is set and bit REN is cleared (half-duplex, no reception).
Exception: in Loopback Mode (bit LB set), REN must be set for reception of the
transmitted byte. Data transmission is double-buffered. When the transmitter is idle, the
transmit data loaded into TBUF is immediately moved to the transmit shift register, thus
freeing TBUF for more data. This is indicated by the transmit buffer interrupt request line
TBIR being activated. TBUF may now be loaded with the next data, while transmission
of the previous continuous. The data bits are transmitted synchronous with the shift
clock. After the bit time for the eighth data bit, both the TxD and RxD lines will go high,
the transmit interrupt request line TIR is activated, and serial data transmission stops.
Note: Pin TxD must be configured for alternate data output in order to provide the shift
clock. Pin RxD must also be configured for output during transmission.
19.3.2
Synchronous Reception
Synchronous reception is initiated by setting bit REN. If bit R is set, the data applied at
RxD is clocked into the receive shift register synchronous to the clock that is output at
TxD. After the eighth bit has been shifted in, the contents of the receive shift register are
transferred to the receive data buffer RBUF, the receive interrupt request line RIR is
activated, the receiver enable bit REN is reset, and serial data reception stops.
Note: Pin TxD must be configured for alternate data output in order to provide the shift
clock. Pin RxD must be configured as alternate data input.
Synchronous reception is stopped by clearing bit REN. A currently received byte is
completed, including the generation of the receive interrupt request and an error interrupt
request, if appropriate. Writing to the transmit buffer register while a reception is in
progress has no effect on reception and will not start a transmission.
If a previously received byte has not been read out of a full receive buffer at the time the
reception of the next byte is complete, both the error interrupt request line EIR and the
overrun error status flag OE will be activated/set, provided the overrun check has been
enabled by bit OEN.
19.3.3
Synchronous Timing
Figure 19-13 shows timing diagrams of the ASC Synchronous Mode data reception and
data transmission. In idle state, the shift clock level is high. With the beginning of a
synchronous transmission of a data byte, the data is shifted out at RxD with the falling
edge of the shift clock. If a data byte is received through RxD, data is latched with the
rising edge of the shift clock.
Between two consecutive receive or transmit data bytes, one shift clock cycle (fBR) delay
is inserted.
User’s Manual
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V1.0, 2004-06
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Receive/Transmit Timing
Shift
Shift
Shift
Latch
Shift Clock
(TxD)
Transmit Data
(RxD)
Data Bit
n
Data Bit
n+1
Data Bit
n+2
Receive Data
(RxD)
Valid Data
n
Valid Data
n+1
Valid Data
n+2
D4
D6
Continuous Transmit Timing
Shift Clock
(TxD)
Transmit Data
(RxD)
D0
D1
D2
D3
D5
D7
D0
D1
1. Byte
Receive Data
(RxD)
D0
D1
D2
D3
D4
D2
D3
2. Byte
D5
D6
1. Byte
D7
D0
D1
D2
D3
2. Byte
MCT05444
Figure 19-13 ASC Synchronous Mode Waveforms
User’s Manual
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V1.0, 2004-06
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
19.4
Baudrate Generation
The serial channel ASC has its own dedicated 13-bit baudrate generator with reload
capability, allowing baudrate generation independent of other timers.
The baudrate generator is clocked with a clock (fDIV) derived via a prescaler from the
ASC input clock fASC. The baudrate timer counts downwards and can be started or
stopped through the baudrate generator run bit R. Each underflow of the timer provides
one clock pulse to the serial channel. The timer is reloaded with the value stored in its
13-bit reload register each time it underflow. The resulting clock fBRT is again divided by
a factor for the baudrate clock (16 in Asynchronous Modes and 4 in Synchronous Mode).
The prescaler is selected by the bits BRS and FDE. In addition to the two fixed dividers,
a fractional divider prescaler unit is available in the Asynchronous Modes that allows
selection of prescaler divider ratios of n/512 with n = 0 … 511. Therefore, the baudrate
of ASC is determined by the module clock, the content of FDV, the reload value of BG,
and the operating mode (asynchronous or synchronous).
Register ASCx_BG is the dual-function Baudrate Generator/Reload register. Reading
ASCx_BG returns the contents of the timer BR_VALUE (bits 15 … 13 return zero), while
writing to BG always updates the reload register (bits 15 … 13 are insignificant).
An autoreload of the timer with the contents of the reload register is performed each time
ASCx_BG is written to. However, if bit R is cleared at the time a write operation to
ASCx_BG is performed, the timer will not be reloaded until the first instruction cycle after
bit R was set. For a clean baudrate initialization, ASCx_BG should be written only if
R = 0. If ASCx_BG is written while R = 1, unpredictable behavior of the ASC may occur
during running transmit or receive operations.
The ASC baudrate timer reload register ASCx_BG contains the 13-bit reload value for
the baudrate timer in Asynchronous and Synchronous modes.
19.4.1
Baudrate in Asynchronous Mode
For Asynchronous Mode, the baudrate generator provides a clock fBRT with sixteen times
the rate of the established baudrate. Every received bit is sampled at the 7th, 8th, and 9th
cycle of this clock. The clock divider circuitry, which generates the input clock for the
13-bit baudrate timer, is extended by a fractional divider circuitry that allows adjustment
for more accurate baudrate and the extension of the baudrate range.
The baudrate of the baudrate generator depends on the following bits and register
values:
•
•
•
•
Input clock fASC
Selection of the baudrate timer input clock fDIV by bits FDE and BRS
If bit FDE is set (fractional divider): value of register ASCx_FDV
Value of the 13-bit reload register ASCx_BG
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Asynchronous/Synchronous Serial Interface (ASC)
The output clock of the baudrate timer with the reload register is the sample clock in the
Asynchronous Modes of the ASC. For baudrate calculations, this baudrate clock fBR is
derived from the sample clock fDIV by a division by 16.
The ASC fractional divider register ASCx_FDV contains the 9-bit divider value for the
fractional divider (Asynchronous Mode only). It is also used for reference clock
generation of the autobaud detection unit.
FDE
Fractional
Divider
fASC
16
MUX
fDIV
2
R
13-bit Reload Register
13-bit Baudrate Timer
fBRT
fBR
Baudrate
Clock
Sample
Clock
3
BRS
FDE
BRS
Selected Divider
0
0
2
0
1
3
1
X
Fractional Divider
MCA05445
Figure 19-14 ASC Baudrate Generator Circuitry in Asynchronous Modes
Using the Fixed Input Clock Divider
The baudrate for asynchronous operation of serial channel ASC when using the fixed
input clock divider ratios (FDE = 0) and the required reload value for a given baudrate
can be determined by the following formulas:
BG represents the contents of the reload bitfield BR_VALUE, taken as unsigned 13-bit
integer.
The maximum baudrate that can be achieved for the Asynchronous Modes when using
the two fixed clock divider and a module clock of 40 MHz is 1.25 Mbit/s. Table 19-4 lists
various commonly used baudrates together with the required reload values and the
deviation errors compared to the intended baudrate.
Note: FDE must be 0 to achieve the baudrates in Table 19-3. The deviation errors given
in the table are rounded. Using a baudrate crystal will provide correct baudrates
without deviation errors.
User’s Manual
ASC_X8, V2.1
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V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Table 19-3
Asynchronous Baudrate Formulas Using the Fixed Input Clock
Dividers
FDE
BRS
BG
Formula
0
0
0 … 8191
f
ASC
Baudrate = ----------------------------------32 × ( BG + 1 )
f
ASC
BG = --------------------------------------–1
32 × Baudrate
1
f
ASC
Baudrate = ----------------------------------48 × ( BG + 1 )
f
ASC
BG = --------------------------------------–1
48 × Baudrate
Table 19-4
Typical Asynchronous Baudrates Using the Fixed Input Clock
Dividers
BRS = 0, fASC = 40 MHz
Baudrate
BRS = 1, fASC = 40 MHz
Deviation Error Reload Value Deviation Error Reload Value
1.25 Mbit/s
---
0000H
NA
NA
19.2 kbit/s
+0.1% / -1.3%
0040H / 0041H
+0.9% / -1.3%
002AH / 002BH
9600 bit/s
+0.1% / -0.6%
0081H / 0082H
+0.9% / -0.2%
0055H / 0056H
4800 bit/s
+0.1% / -0.2%
0103H / 0104H
+0.3% / -0.2%
00ACH / 00ADH
2400 bit/s
+0.1% / -0.0%
0207H / 0208H
+0.0% / -0.2%
015AH / 015BH
1200 bit/s
+0.0% / -0.0%
0410H / 0411H
+0.0% / -0.0%
02B5H / 02B6H
Using the Fractional Divider
When the fractional divider is selected, the input clock fDIV for the baudrate timer is
derived from the module clock fASC by a programmable divider. If bit FDE is set, the
fractional divider is activated. It divides fASC by a fraction of n/512 for any value of n from
0 to 511. If n = 0, the divider ratio is 1, which means that fDIV = fASC. In general, the
fractional divider allows the baudrate to be programmed with much more accuracy than
with the two fixed prescaler divider stages.
Note: BG represents the contents of the reload bitfield BR_VALUE, taken as an
unsigned 13-bit integer.
Note: FDV represents the contents of the fractional divider register FD_VALUE taken as
an unsigned 9-bit integer.
User’s Manual
ASC_X8, V2.1
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V1.0, 2004-06
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Table 19-5
Async. Baudrate Formulas Using the Fractional Input Clock Divider
FDE
BRS
BG
FDV
Formula
1
–
1 … 8191
1 … 511
f ASC
FDV
Baudrate = ------------ × ----------------------------------512 16 × ( BG + 1 )
0
Table 19-6
f
ASC
Baudrate = ----------------------------------16 × ( BG + 1 )
Typical Asynchronous Baudrates Using the Fractional Input Clock
Divider
fASC
Desired
Baudrate
BG
FDV
Resulting
Baudrate
Deviation
40 MHz
115.2 kbit/s
04H
076H
115.234 kbit/s
0.02%
57.6 kbit/s
04H
03BH
57.617 kbit/s
0.02%
38.4 kbit/s
0EH
076H
38.411 kbit/s
0.02%
19.2 kbit/s
0EH
03BH
19.206 kbit/s
0.02%
User’s Manual
ASC_X8, V2.1
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
19.4.2
Baudrate in Synchronous Mode
For synchronous operation, the baudrate generator provides a clock with four times the
rate of the established baudrate (see Figure 19-15).
13-bit Reload Register
2
MUX
fASC
fDIV
13-bit Baudrate Timer
3
Shift /
Sample
Clock
4
fBRT
R
BRS
BRS
Selected Divider
0
2
1
3
MCA05446
Figure 19-15 ASC Baudrate Generator Circuitry in Synchronous Mode
The baudrate for synchronous operation of serial channel ASC can be determined by the
formulas as shown in Table 19-7.
Table 19-7
Synchronous Baudrate Formulas
BRS
BG
0
0 … 8191
1
Formula
f
ASC
Baudrate = -------------------------------8 × ( BG + 1 )
f
ASC
Baudrate = ----------------------------------12 × ( BG + 1 )
f
ASC
BG = -----------------------------------–1
8 × Baudrate
f
ASC
BG = --------------------------------------–1
12 × Baudrate
Note: BG represents the contents of the reload bitfield BR_VALUE, taken as an
unsigned 13-bit integers.
The maximum baudrate that can be achieved in Synchronous Mode when using a
module clock of 40 MHz is 5 Mbit/s.
User’s Manual
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
19.5
Autobaud Detection
19.5.1
General Operation
Autobaud Detection provides a capability to recognize the mode and the baudrate of an
asynchronous input signal at RxD. Generally, the baudrates to be recognized must be
known by the application. With this knowledge always a set of nine baudrates can be
detected. The Autobaud Detection is not designed to calculate a baudrate of an unknown
asynchronous frame.
Figure 19-16 shows how the Autobaud Detection is integrated into its Asynchronous
Mode configuration. The RxD data line is an input to the autobaud detection unit. The
clock fDIV, generated by the fractional divider, is used by the autobaud detection unit as
time base. After successful recognition of baudrate and Asynchronous Mode of the RxD
data input signal, bits in register ASCx_CON and the value of register ASCx_BG in the
baudrate timer are set to the appropriate values, and the ASC can start immediately with
the reception of serial input data.
Asynchronous Mode
fASC
Prescaler /
Fractional
Divider
fDIV
Autobaud
Detection
Baudrate
Timer
Serial Port
Control
RxD
MUX
IrDA
Decoding
Receive / Transmit
Buffers and
Shift Registers
MUX
TxD
IrDA
Decoding
MCA05447
Figure 19-16 Asynchronous Mode Block Diagram
Note: Autobaud detection is not available in Synchronous Mode.
The following sequence must be executed to start the autobaud detection unit:
•
•
•
•
•
•
Definition of the baudrates to be detected: standard or non-standard baudrates
Programming of the prescaler/fractional divider to select a specific value of fDIV
Starting the prescaler/fractional divider (setting bit R)
Preparing the interrupt system
Enabling the autobaud detection (setting bit EN and the interrupt enable bits in
ABCON for interrupt generation, if required)
Polling interrupt request flag or waiting for the autobaud detection interrupt
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Asynchronous/Synchronous Serial Interface (ASC)
19.5.2
Serial Frames for Autobaud Detection
The Autobaud Detection is based on the serial reception of a specific two-byte serial
frame. This serial frame is build up by the two ASCII bytes “at” or “AT” (“aT” or “At” are
not allowed). Both byte combinations can be detected in five types of asynchronous
frames. Figure 19-17 and Figure 19-18 show the serial frames which are detected at
least.
Note: Some other two-byte combinations will be defined too.
7 Bit, Even Parity
‘a’ = 61H
1
0
0
0
0
‘t’ = 74H
1
1
Start
1
1
0
Parity Stop
0
1
0
1
1
1
Start
0
1
Parity Stop
7 Bit, Odd Parity
‘a’ = 61H
1
0
0
0
0
‘t’ = 74H
1
1
Start
0
1
0
Parity Stop
0
1
0
1
1
1
Start
1
1
Parity Stop
8 Bit, No Parity
‘a’ = 61H
1
0
0
0
0
‘t’ = 74H
1
1
0
Start
1
0
Stop
0
1
0
1
1
1
0
Start
1
Stop
8 Bit, Even Parity
‘a’ = 61H
1
0
0
0
0
‘t’ = 74H
1
1
0
Start
1
1
0
Parity Stop
0
1
0
1
1
1
0
Start
0
1
Parity Stop
8 Bit, Odd Parity
‘a’ = 61H
1
Start
0
0
0
0
‘t’ = 74H
1
1
0
0
0
1
Parity Stop
0
1
Start
0
1
1
1
0
1
1
Parity Stop
MCT05448
Figure 19-17 Two-Byte Serial Frames with ASCII ‘at’
User’s Manual
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XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
7 Bit, Even Parity
‘A’ = 41H
1
0
0
0
0
‘T’ = 54H
0
1
Start
0
1
0
Parity Stop
0
1
0
1
0
1
Start
1
1
Parity Stop
7 Bit, Odd Parity
‘A’ = 41H
1
0
0
0
0
‘T’ = 54H
0
1
Start
1
1
0
Parity Stop
0
1
0
1
0
1
Start
0
1
Parity Stop
8 Bit, No Parity
‘A’ = 41H
1
0
0
0
0
‘T’ = 54H
0
1
0
Start
1
0
Stop
0
1
0
1
0
1
0
Start
1
Stop
8 Bit, Even Parity
‘A’ = 41H
1
0
0
0
0
‘T’ = 54H
0
1
0
Start
0
1
0
Parity Stop
0
1
0
1
0
1
0
Start
1
1
Parity Stop
8 Bit, Odd Parity
‘A’ = 41H
1
Start
0
0
0
0
‘T’ = 54H
0
1
0
1
0
1
Parity Stop
0
1
Start
0
1
0
1
0
0
1
Parity Stop
MCT05449
Figure 19-18 Two-Byte Serial Frames with ASCII ‘AT’
19.5.3
Baudrate Selection and Calculation
Autobaud Detection requires some calculations concerning the programming of the
baudrate generator and the baudrates to be detected. Two steps must be considered:
•
•
Defining the baudrate(s) to be detected
Programming of the baudrate timer prescaler - setup of the clock rate of fDIV
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Asynchronous/Synchronous Serial Interface (ASC)
In general, the baudrate generator in Asynchronous Mode is build up by two parts (see
also Figure 19-14):
•
•
The clock prescaler part which derives fDIV from fASC
The baudrate timer part which generates the sample clock fBRT and the baudrate
clock fBR
Prior to an Autobaud Detection the prescaler part has to be set up by the CPU while the
baudrate timer (register ASCx_BG) is initialized with a 13-bit value (BR_VALUE)
automatically after a successful autobaud detection. For the following calculations, the
fractional divider is used (FDE = 1).
Note: It is also possible to use the fixed divide-by-2 or divide-by-3 prescaler. But the
fractional divider allows the much more precise adaption of fDIV to the required
value.
Standard Baudrates
For standard baudrate detection the baudrates as shown in Table 19-8 can be e.g.
detected. Therefore, the output frequency fDIV of the baudrate generator must be set to
a frequency derived from the module clock fASC in a way that it is equal to 11.0592 MHz.
The value to be written into register FDV is the nearest integer value which is calculated
according the following formula:
512 × 11.0592 MHz
FDV = ----------------------------------------------------
(19.1)
f ASC
Table 19-8 defines the nine standard baudrates (Br0 - Br8) which can be detected for
fDIV = 11.0592 MHz.
Table 19-8
Autobaud Detection Using Standard Baudrates (fDIV = 11.0592 MHz)
Baudrate
Numbering
Detectable Standard
Baudrate
Divide Factor df
BG is Loaded after
Detection with Value
Br0
230.400 kbit/s
48
2 = 002H
Br1
115.200 kbit/s
96
5 = 005H
Br2
57.600 kbit/s
192
11 = 00BH
Br3
38.400 kbit/s
288
17 = 011H
Br4
19.200 kbit/s
576
35 = 023H
Br5
9600 bit/s
1152
71 = 047H
Br6
4800 bit/s
2304
143 = 08FH
Br7
2400 bit/s
4608
287 = 11FH
Br8
1200 bit/s
9216
575 = 23FH
User’s Manual
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XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
According to Table 19-8 a baudrate of 9600 bit/s is achieved when register ASCx_BG is
loaded with a value of 047H, assuming that fDIV has been set to 11.0592 MHz.
Table 19-8 also lists a divide factor df which is defined with the following formula:
f
DIV
Baudrate = -------df
(19.2)
This divide factor df defines a fixed relationship between the prescaler output frequency
fDIV and the baudrate to be detected during the Autobaud Detection operation. This
means, changing fDIV results in a totally different baudrate table in means of baudrate
values. For the baudrates to be detected, the following relations are always valid:
Br0 = fDIV/48D, Br1 = fDIV/96D, … up to Br8 = fDIV/9216D
A requirement for detecting standard baudrates up to 230.400 kbit/s is the fDIV minimum
value of 11.0592 MHz. With the value FD_VALUE the fractional divider fDIV is adapted to
the module clock frequency fASC. Table 19-9 defines the deviation of the standard
baudrates when using autobaud detection depending on the module clock fASC.
Table 19-9
fASC
Standard Baudrates - Deviations and Errors for Autobaud Detection
Error in fDIV
FDV
10 MHz
not possible
12 MHz
472
+0.03%
13 MHz
436
+0.1%
16 MHz
354
+0.03%
18 MHz
315
+0.14%
18.432 MHz
307
-0.07%
20 MHz
283
-0.04%
24 MHz
236
+0.03%
25 MHz
226
-0.22%
30 MHz
189
+0.14%
33 MHz
172
+0.24%
40 MHz
142
+0.31%
Note: If the deviation of the baudrate after autobaud detection is to high, the baudrate
generator (fractional divider FDV and reload register ASCx_BG) can be
reprogrammed if required to get a more precise baudrate with less error.
User’s Manual
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Asynchronous/Synchronous Serial Interface (ASC)
Non-Standard Baudrates
Due to the relationship between Br0 to Br8 in Table 19-8 concerning the divide factor df
other baudrates than the standard baudrates can be also selected. E.g. if a baudrate of
50 kbit/s has to be detected, Br2 is e.g. defined as baudrate for the 50 kbit/s selection.
This further results in:
fDIV = 50 kbit/s × df@Br2 = 50 kbit/s × 192 = 9.6 MHz
Therefore, depending on the module clock frequency fASC, the value of the fractional
divider (register FDV) must be set in this example according to the formula:
512 × f DIV
FDV = ------------------------
f ASC
with fDIV = 9.6 MHz
(19.3)
Using this selection (fDIV = 9.6 MHz), the detectable baudrates start at 200 kbit/s (Br0)
down to 1042 bit/s (Br8). Table 19-10 shows the baudrate table for this example.
Table 19-10 Autobaud Detection Using Non-Standard Baudrates (fDIV = 9.6 MHz)
Baudrate
Numbering
Detectable NonStandard Baudrates
Divide Factor df
BG is Loaded after
Detection with Value
Br0
200.000 kbit/s
48
2 = 002H
Br1
100.000 kbit/s
96
5 = 005H
Br2
50 kbit/s
192
11 = 00BH
Br3
33.333 kbit/s
288
17 = 011H
Br4
16.667 kbit/s
576
35 = 023H
Br5
8333 bit/s
1152
71 = 047H
Br6
4167 bit/s
2304
143 = 08FH
Br7
2083 bit/s
4608
287 = 11FH
Br8
1047 bit/s
9216
575 = 23FH
User’s Manual
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Asynchronous/Synchronous Serial Interface (ASC)
19.5.4
Overwriting Registers on Successful Autobaud Detection
With a successful Autobaud Detection some bits in registers ASCx_CON and ASCx_BG
are automatically set to a value which corresponds to the mode and baudrate of the
detected serial frame conditions (see Table 19-11). In control register ASCx_CON the
mode control bits M and the parity select bit ODD are overwritten. Register ASCx_BG is
loaded with the 13-bit reload value for the baudrate timer.
Table 19-11 Autobaud Detection Overwrite Values for the CON Register
Detected Parameters
M
ODD
BR_VALUE
Operating Mode
7 bit, even parity
7 bit, odd parity
8 bit, even parity
8 bit, odd parity
8 bit, no parity
011
011
111
111
001
0
1
0
1
0
–
Baudrate
Br0
Br1
Br2
Br3
Br4
Br5
Br6
Br7
Br8
–
–
2 = 002H
5 = 005H
11 = 00BH
17 = 011H
35 = 023H
71 = 047H
143 = 08FH
287 = 11FH
575 = 23FH
Note: The autobaud detection interrupts are described in Section 19.7.
User’s Manual
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Asynchronous/Synchronous Serial Interface (ASC)
19.6
Hardware Error Detection Capabilities
To improve the safety of serial data exchange, the serial channel ASC provides an error
interrupt request flag to indicate the presence of an error, and three (selectable) error
status flags in register ASCx_CON to indicate which error has been detected during
reception. Upon completion of a reception, the error interrupt request line EIR will be
activated simultaneously with the receive interrupt request line RIR, if one or more of the
following conditions are met:
•
•
•
If the framing error detection enable bit FEN is set and any of the expected stop bits
is not high, the framing error flag FE is set, indicating that the error interrupt request
is due to a framing error (Asynchronous Mode only).
If the parity error detection enable bit PEN is set in the modes where a parity bit is
received, and the parity check on the received data bits proves false, the parity error
flag PE is set, indicating that the error interrupt request is due to a parity error
(Asynchronous Mode only).
If the overrun error detection enable bit OEN is set and the last character received
was not read out of the receive buffer by software or by a DMA transfer at the time
the reception of a new frame is complete, the overrun error flag OE is set indicating
that the error interrupt request is due to an overrun error (Asynchronous and
Synchronous Mode).
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Asynchronous/Synchronous Serial Interface (ASC)
19.7
Interrupts
Six interrupt sources are provided for serial channel ASC. Line TIR indicates a transmit
interrupt, TBIR indicates a transmit buffer interrupt, RIR indicates a receive interrupt and
EIR indicates an error interrupt of the serial channel. The autobaud detection unit
provides two additional interrupts, the ABSTIR start of autobaud operation interrupt and
the ABDETIR autobaud detected interrupt. The interrupt output lines TBIR, TIR, RIR,
EIR, ABSTIR, and ABDETIR are activated (active state) for two periods of the module
clock fASC.
The cause of an error interrupt request (framing, parity, overrun error) can be identified
by the error status flags FE, PE, and OE. For the two autobaud detection interrupts
register ABSTAT provides status information.
Note: In contrary to the error interrupt request line EIR, the error status flags FE/PE/OE
are not reset automatically but must be cleared by software.
For normal operation (i.e. besides the error interrupt) the ASC provides three interrupt
requests to control data exchange via this serial channel:
•
•
•
TBIR is activated when data is moved from TBUF to the transmit shift register.
TIR is activated before the last bit of an asynchronous frame is transmitted, or after
the last bit of a synchronous frame has been transmitted.
RIR is activated when the received frame is moved to RBUF.
Note: While the receive task is handled by a single interrupt handler, the transmitter is
serviced by two interrupt handlers. This provides advantages for the servicing
software.
For single transfers it is sufficient to use the transmitter interrupt (TIR), which indicates
that the previously loaded data has been transmitted, except for the last bit of an
asynchronous frame. For multiple back-to-back transfers it is necessary to load the
following piece of data at last until the time the last bit of the previous frame has been
transmitted. In Asynchronous Mode this leaves just one bit-time for the handler to
respond to the transmitter interrupt request, in Synchronous Mode it is impossible at all.
Using the transmit buffer interrupt (TBIR) to reload transmit data gives the time to
transmit a complete frame for the service routine, as TBUF may be reloaded while the
previous data is still being transmitted.
The start of autobaud operation interrupt ABSTIR is generated whenever the autobaud
detection unit is enabled (ABEN and ABDETEN and ABSTEN are set), and a start bit
has been detected at RxD. In this case ABSTIR is generated during Autobaud Detection
whenever a start bit is detected.
The autobaud detected interrupt ABDETIR is always generated after recognition of the
second character of the two-byte frame, this means after a successful Autobaud
Detection. If FCDETEN is set the autobaud detected interrupt ABDETIR is also
generated after the recognition of the first character of the two-byte frame.
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Asynchronous/Synchronous Serial Interface (ASC)
Asynchronous Mode
TIR
TIR
Stop
Stop
RIR
Start
TBIR
Start
TBIR
Stop
Idle
Start
TBIR
TIR
RIR
Idle
RIR
Synchronous Mode
TIR
TBIR
TIR
TBIR
TIR
TBIR
Idle
Idle
RIR
RIR
RIR
Asynchronous Modes
Autobaud Detection
2. Character
Stop
ABDETIR
Start
1. Character
ABDETIR 1)
Stop
Idle
Start
ABSTIR
1) Only if FCDETEN = 1
MCT05450
Figure 19-19 ASC Interrupt Generation
As shown in Figure 19-19, TBIR is an early trigger for the reload routine, while TIR
indicates the completed transmission. Therefore, software using handshake should rely
on TIR at the end of a data block to ensure that all data has actually been transmitted.
The six interrupts of the ASC0 and of the ASC1 module are controlled by the following
service request control registers:
•
•
•
•
•
ASC0_ABIC, ASC1_ABIC: control the autobaud interrupts
ASC0_TIC, ASC1_TIC: control the transmit interrupts
ASC0_RIC, ASC1_RIC: control the receive interrupts
ASC0_EIC, ASC1_EIC: control the error interrupts
ASC0_TBIC, ASC1_TBIC: control the transmit buffer empty interrupt
Note: Please refer to the general Interrupt Control Register description for an
explanation of the control fields.
User’s Manual
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Asynchronous/Synchronous Serial Interface (ASC)
The two autobaud interrupt request lines (start of autobaud detection and end of
autobaud detection) in each ASC module are ‘ORed’ together; the ‘ORed’ output signal
is connected to the interrupt control register. This is shown in Figure 19-20.
ASCx
Kernel
start_autobaud_detect_irq
end_autobaud_detect_irq
_
>1
(x = 0 … 1)
ASCx_ABIC
MCA05451
Figure 19-20 Wiring of Autobaud Interrupts
Table 19-12 summarizes all interrupt sources:
Table 19-12 ASC Interrupt Sources
Interrupt
Signal
Description
TBUF Action
TBIR
A write action to the transmit shift register from the transmit
buffer register ASCx_TBUF.
If a FIFO is configured for the ASC and bit TXTMEN is
cleared, TXFIFL defines when the interrupt is generated
depending on the FIFO fill state.
Transmit
Interrupt
TIR
The interrupt is generated after the last (eight) data bit of a
transmission frame is send via line TxD by the transmit shift
register.
Note: Only for Synchronous Mode
Transmit
Interrupt
TIR
The interrupt is generated just before the last bit of a
transmission frame is send via line TxD by the transmit shift
register. If a FIFO is configured for the ASC and bit XTMEN is
cleared, TXFIFL defines when the interrupt is generated
depending on the FIFO fill state.
Note: Only for Asynchronous Modes
Receive
Interrupt
RIR
The interrupt is generated when the received frame is copied
from the receive shift register to the receive buffer register.
Note: Only for Synchronous Mode
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Table 19-12 ASC Interrupt Sources (cont’d)
Interrupt
Signal
Description
Receive
Interrupt
RIR
The interrupt is generated when the received frame is copied
from the receive shift register to the receive buffer register. If
a FIFO is configured for the ASC and bit RXTMEN is cleared,
RXFIFL defines when the interrupt is generated depending on
the FIFO fill state.
Note: Only for Asynchronous Modes
Receive Error RIR and The interrupt is generated when the received frame is copied
Interrupt
EIR
from the receive shift register to the receive buffer register and
the receive buffer contains already valid data.
Note: Only for Synchronous Mode
Receive
Overflow
RIR and If an additional frame is received when the FIFO is completely
EIR
full an overflow error occurs. Both interrupts are generated
and the previously received frame is overwritten in the FIFO
and therefore lost.
Read to
empty FIFO
EIR
A read operation from the CPU to an empty receive FIFO
generates this interrupt.
Transparent
Read
Operation
RIR
In Transparent Mode a receive interrupt is always generated
on a read operation from the CPU to the receive FIFO if the
FIFO is not empty after this operation.
Flush Action
TBIR
A transmit buffer interrupt is generated when the transmit
FIFO is flushed.
FIFO Enable
TBIR
A transmit buffer interrupt is generated when the transmit
FIFO is enabled by setting bits TXTMEN and TXFEN when it
was previously disabled in Transparent Mode.
Transmit
Overflow
EIR
If an additional frame is written to the transmit FIFO when it is
completely full an overflow error occurred. The interrupt is
generated and the previously written frame is overwritten and
therefor lost in the FIFO.
Frame Error
RIR and An expected stop bit is not high.
EIR
Note: Asynchronous Mode only
Parity Error
RIR and When a parity bit is received that does not fit to the parity of
EIR
the received data.
Note: Asynchronous Mode only
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ASC_X8, V2.1
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
19.8
Registers
Table 19-13 shows all registers which are required for programming the ASC modules.
It summarizes the ASC kernel registers and the interrupt control registers and lists their
addresses.
Table 19-13 ASC Module Register Summary
Name
Description
ASC0
Addresses
16-Bit
Reg.
Area
8-Bit
ASC1
Addresses
16-Bit
8-Bit
ASCx_CON
Control Register
FFB0H D8H
SFR
FFB8H DCH
ASCx_TBUF
Transmit Buffer Register
FEB0H 58H
SFR
FEB8H 5CH
ASCx_RBUF
Receive Buffer Register
FEB2H 59H
SFR
FEBAH 5DH
ASCx_ABCON
Autobaud Control Register F1B8H DCH
ESFR F1BCH DEH
ASCx_ABSTAT
Autobaud Status Register
F0B8H 5CH
ESFR F0BCH 5EH
ASCx_BG
Baudrate Timer Reload
Register
FEB4H 5AH
SFR
FEBCH 5EH
ASCx_FDV
Fractional Divider Register FEB6H 5BH
SFR
FEBEH 5FH
ASCx_PMW
IrDA Pulse Mode and
Width Register
FEAAH 55H
SFR
FEACH 56H
ASCx_RXFCON
Receive FIFO Control
Register
F0C6H 63H
ESFR F0A6H
53H
ASCx_TXFCON
Transmit FIFO Control
Register
F0C4H 62H
ESFR F0A4H
52H
ASCx_FSTAT
FIFO Status Register
F0BAH 5DH
ESFR F0BEH 5FH
ASCx_ABIC
Autobaud Interrupt Control F15CH AEH
Register
ESFR F1BAH DDH
ASCx_TIC
Transmit Interrupt Control
Register
FF6CH B6H
SFR/ F182H
ESFR
C1H
ASCx_RIC
Receive Interrupt Control
Register
FF6EH B7H
SFR/ F18AH
ESFR
C5H
ASCx_EIC
Error Interrupt Control
Register
FF70H
B8H
SFR/ F192H
ESFR
C9H
ASCx_TBIC
Transmit Buffer Interrupt
Control Register
F19CH CEH
ESFR F150H
A8H
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ASC_X8, V2.1
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XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Control Register
The operating mode of the serial channel ASC is controlled by its control register CON.
This register contains control bits for mode and error check selection, and status flags
for error identification.
ASCx_CON
Control Register
13
SFR (Table 19-13)
15
14
R
LB BRS ODD FDE OE
FE
PE OEN FEN
rw
rw
rwh
rwh
rw
12
rw
11
rw
10
rwh
9
8
7
rw
6
rw
Reset Value: 0000H
5
4
3
2
1
PEN/
REN STP
RxDI
rw
rwh
0
M
rw
rw
Field
Bits
Type
Description
R
15
rw
Baudrate Generator Run Control Bit
0
Baudrate generator disabled (ASC inactive)
1
Baudrate generator enabled
Note: BR_VALUE should only be written if R = 0.
LB
14
rw
Loopback Mode Enabled
0
Loopback Mode disabled. Standard
transmit/receive Mode
1
Loopback Mode enabled
BRS
13
rw
Baudrate Selection
0
Baud rate timer prescaler divide-by-2 selected
1
Baud rate timer prescaler divide-by-3 selected
Note: BRS is don’t care if FDE = 1 (fractional divider
selected).
ODD
User’s Manual
ASC_X8, V2.1
12
rw
Parity Selection
0
Even parity selected (parity bit of 1 is included
in data stream on odd number of 1 and parity
bit of 0 is included in data stream on even
number of 1)
1
Odd parity selected (parity bit of 1 is included
in data stream on even number of 1 and parity
bit of 0 is included in data stream on odd
number of 1)
19-40
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Asynchronous/Synchronous Serial Interface (ASC)
Field
Bits
Type
Description
FDE
11
rw
Fractional Divider Enable
0
Fractional divider disabled
1
Fractional divider enabled and used as
prescaler for baudrate generator (bit BRS is
don’t care)
OE
10
rwh
Overrun Error Flag
Set by hardware on an overrun/underflow error
(OEN = 1). Must be cleared by software.
FE
9
rwh
Framing Error Flag
Set by hardware on a framing error (FEN = 1).
Must be cleared by software.
PE
8
rwh
Parity Error Flag
Set by hardware on a parity error (PEN = 1).
Must be cleared by software.
OEN
7
rw
Overrun Check Enable
0
Ignore overrun errors
1
Check overrun errors
FEN
6
rw
Framing Check Enable
(Asynchronous Mode only)
0
Ignore framing errors
1
Check framing errors
PEN / RxDI
5
rw
Parity Check Enable/RxDI Invert in IrDA Mode
All Asynchronous Modes without IrDA Mode (PEN):
0
Ignore parity
1
Check parity
Only in IrDA Mode (RxDI):
0
RxD input is not inverted
1
RxD input is inverted
REN
4
rwh
Receiver Enable Bit
0
Receiver disabled
1
Receiver enabled
Note: REN is cleared by hardware after reception of
a byte in synchronous mode.
STP
User’s Manual
ASC_X8, V2.1
3
rw
Number of Stop Bits Selection
0
One stop bit
1
Two stop bits
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Asynchronous/Synchronous Serial Interface (ASC)
Field
Bits
Type
Description
M
[2:0]
rw
Mode Control
000 8-bit-data for synchronous operation
001 8-bit-data for asynchronous operation
010 8-bit-data IrDA Mode for asynchronous
operation
011 7-bit-data and parity for asynchronous
operation
100 9-bit-data for asynchronous operation
101 8-bit-data and wake-up bit for asynchronous
operation
110 Reserved. Do not use this combination
111 8-bit-data and parity for asynchronous
operation
Baudrate Register
The ASC baudrate timer reload register BG contains the 13-bit reload value for the
baudrate timer in Asynchronous and Synchronous Mode.
ASCx_BG
Baudrate Timer/Reload Reg.
15
14
13
12
11
10
SFR (Table 19-13)
9
8
7
6
Reset Value: 0000H
5
-
BR_VALUE
-
rw
4
3
2
1
0
Field
Bits
Type
Description
BR_VALUE
[12:0]
rw
Baudrate Timer/Reload Value
Reading returns the 13-bit content of the baudrate
timer; writing loads the baudrate timer/reload value.
Note: BG should only be written if R = 0.
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Fractional Divider Register
The ASC fractional divider register FDV contains the 9-bit divider value for the fractional
divider (Asynchronous Mode only). It is also used for reference clock generation of the
autobaud detection unit.
ASCx_FDV
Fractional Divider Register
15
14
13
12
11
10
SFR (Table 19-13)
9
8
7
6
Reset Value: 0000H
5
4
3
-
FD_VALUE
-
rw
2
1
0
Field
Bits
Type
Description
FD_VALUE
[8:0]
rw
Fractional Divider Register Value
FD_VALUE contains the 9-bit value of the fractional
divider which defines the fractional divider ratio
n/512 (n = 0 … 511). With n = 0, the fractional divider
is switched off (input = output frequency, fDIV = fASC,
see Figure 19-14).
User’s Manual
ASC_X8, V2.1
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
IrDA Pulse Mode/Width Register
The ASC IrDA pulse mode and width register PMW contains the 8-bit IrDA pulse width
value and the IrDA pulse width mode select bit. This register is only required in the IrDA
operating mode.
ASCx_PMW
IrDA Pulse Mode/Width Reg.
15
14
13
12
11
10
SFR (Table 19-13)
9
8
7
6
Reset Value: 0000H
5
4
3
-
IRP
W
PW_VALUE
-
rw
rw
2
1
0
Field
Bits
Type
Description
IRPW
8
rw
IrDA Pulse Width Selection
0
IrDA pulse width is 3/16 bit time
1
IrDA pulse width is defined by PW_VALUE
PW_VALUE
[7:0]
rw
IrDA Pulse Width Value
PW_VALUE is the 8-bit value n, which defines the
variable pulse width of an IrDA pulse.
Depending on the ASC input frequency fASC, this
value can be used to adjust the IrDA pulse width to
value which is not equal 3/16 bit time (e.g. 1.6 ms).
User’s Manual
ASC_X8, V2.1
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Transmitter Buffer Register
The ASC transmitter buffer register TBUF contains the transmit data value in
Asynchronous and Synchronous Mode.
ASCx_TBUF
Transmit Buffer Register
15
14
13
12
11
SFR (Table 19-13)
10
9
8
7
6
Reset Value: 0000H
5
4
3
-
TD_VALUE
-
rw
2
1
0
Field
Bits
Type
Description
TD_VALUE
[8:0]
rw
Transmit Data Register Value
TBUF contains the data to be transmitted in
asynchronous and synchronous operating mode of
the ASC. Data transmission is double buffered.
Therefore, a new value can be written to TBUF
before the transmission of the previous value is
complete.
User’s Manual
ASC_X8, V2.1
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Receiver Buffer Register
The ASC Receiver buffer register RBUF contains the transmit data value in
Asynchronous and Synchronous Modes.
ASCx_RBUF
Receive Buffer Register
15
14
13
12
11
SFR (Table 19-13)
10
9
8
7
6
Reset Value: 0000H
5
4
3
-
RD_VALUE
-
rw
2
1
0
Field
Bits
Type
Description
RD_VALUE
[8:0]
rw
Receive Data Register Value
RBUF contains the received data bits and,
depending on the selected mode, the parity bit in
asynchronous and synchronous operating mode of
the ASC.
In asynchronous operating mode with M = 011
(7-bit data + parity) the received parity bit is written
into RD7.
In asynchronous operating mode with M = 111
(8-bit data + parity) the received parity bit is written
into RD8.
User’s Manual
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Autobaud Control Register
The autobaud control register ABCON of the ASC module is used to control the
autobaud detection operation. It contains its general enable bit, the interrupt enable
control bits, and data path control bits.
ASCx_ABCON
Autobaud Control Register
15
14
13
12
ESFR (Table 19-13)
11
10
9
8
7
6
-
RX
INV
TX
INV
ABEM
-
-
rw
rw
rw
-
Reset Value: 0000H
5
4
3
2
1
0
FC AB ABS
AUR AB
DET DET T
EN EN
EN EN EN
rw
rw
rw
rw
rwh
Field
Bits
Type
Description
RXINV
11
rw
Receive Inverter Enable
0
Receive inverter disabled
1
Receive inverter enabled
TXINV
10
rw
Transmit Inverter Enable
0
Transmit inverter disabled
1
Transmit inverter enabled
ABEM
[9:8]
rw
Autobaud Echo Mode Enable
In Echo Mode the serial data at RxD is switched to
TxD output.
00
Echo Mode disabled
01
Echo Mode is enabled during Autobaud
Detection
10
Echo Mode is always enabled
11
Reserved; do not use this combination
FCDETEN
4
rw
First Character of Two-Byte Frame Detected
Enable
0
Autobaud Detection interrupt ABDETIR
becomes active after the two-byte frame
recognition
1
Autobaud Detection interrupt ABDETIR
becomes active after detection of the first and
second byte of the two-byte frame
ABDETEN
3
rw
Autobaud Detection Interrupt Enable
0
Autobaud Detection interrupt disabled
1
Autobaud Detection interrupt enabled
User’s Manual
ASC_X8, V2.1
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XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Field
Bits
Type
Description
ABSTEN
2
rw
Start of Autobaud Detection Interrupt Enable
0
Start of Autobaud Detection interrupt disabled
1
Start of Autobaud Detection interrupt enabled
AUREN
1
rw
Automatic Autobaud Control of CON.REN
0
CON.REN is not affected during autobaud
detection
1
CON.REN is cleared (receiver disabled) when
ABEN and AUREN are set together.
CON.REN is set (receiver enabled) after a
successful Autobaud Detection (with the stop
bit detection of the second character)
ABEN
0
rwh
Autobaud Detection Enable
0
Autobaud detection is disabled
1
Autobaud detection is enabled
Note: ABEN is reset by hardware after a successful
Autobaud Detection; (with the stop bit
detection of the second character).
Resetting ABEN by software if it was set aborts
the Autobaud Detection.
User’s Manual
ASC_X8, V2.1
19-48
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Autobaud Status Register
The autobaud status register ABSTAT of the ASC module indicates the status of the
autobaud detection operation.
ASCx_ABSTAT
Autobaud Status Register
15
14
13
12
11
ESFR (Table 19-13)
10
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
-
DET
SCC SCS FCC FCS
WA
DET DET DET DET
IT
-
rwh
rwh
rwh
rwh
rwh
Field
Bits
Type
Description
DETWAIT
4
rwh
Autobaud Detection is Waiting
0
Either character ‘a’, ‘A’, ‘t’, or ‘T’ has been
detected
1
The autobaud detection unit waits for the first
‘a’ or ‘A’
Bit is cleared when either FCSDET or FCCDET is set
(‘a’ or ‘A’ detected). Bit can be also cleared by
software. DETWAIT is set by hardware when ABEN
is set.
SCCDET
3
rwh
Second Character with Capital Letter Detected
0
No capital ‘T’ character detected
1
Capital ‘T’ character detected
Bit is cleared by hardware when ABEN is set and if
FCSDET or FCCDET or SCSDET is set. Bit can be
also cleared by software.
SCSDET
2
rwh
Second Character with Small Letter Detected
0
No small ‘t’ character detected
1
Small ‘t’ character detected
Bit is cleared by hardware when ABEN is set and if
FCSDET or FCCDET or SCCDET is set. Bit can be
also cleared by software.
User’s Manual
ASC_X8, V2.1
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Field
Bits
Type
Description
FCCDET
1
rwh
First Character with Capital Letter Detected
0
No capital ‘A’ character detected
1
Capital ‘A’ character detected
Bit is cleared by hardware when ABEN is set and if
FCSDET or SCSDET or SCCDET is set. Bit can be
also cleared by software.
FCSDET
0
rwh
First Character with Small Letter Detected
0
No small ‘a’ character detected
1
Small ‘a’ character detected
Bit is cleared by hardware when ABEN is set and if
FCCDET or SCSDET or SCCDET is set. Bit can be
also cleared by software.
Note: SCSDET or SCCDET are set when the second character has been recognized.
ABEN is reset and ABDETIR set after SCSDET or SCCDET have been set.
User’s Manual
ASC_X8, V2.1
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Receive FIFO Control Register
ASCx_RXFCON
Receive FIFO Control Reg.
15
14
13
12
11
ESFR (Table 19-13)
10
9
8
7
6
Reset Value: 0100H
5
4
3
2
1
0
-
RXFITL
-
RX
RXF RXF
TM
FLU EN
EN
-
rw
-
rw
rw
rw
Field
Bits
Type
Description
RXFITL
[11:8]
rw
Receive FIFO Interrupt Trigger Level
Defines a receive FIFO interrupt trigger level. A
receive interrupt request (RIR) is generated after the
reception of a byte when the filling level of the receive
FIFO is equal to or greater than RXFITL.
0000 Reserved. Do not use this combination
0001 Interrupt trigger level is set to one
0010 Interrupt trigger level is set to two
…
…
0111 Interrupt trigger level is set to seven
1000 Interrupt trigger level is set to eight
Note: In Transparent Mode this bitfield is don’t care.
Note: Combinations defining an interrupt trigger level
greater than the FIFO size should not be used.
RXTMEN
2
rw
Receive FIFO Transparent Mode Enable
0
Receive FIFO Transparent Mode is disabled
1
Receive FIFO Transparent Mode is enabled
Note: This bit is don’t care if the receive FIFO is
disabled (RXFEN = 0).
User’s Manual
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Field
Bits
Type
Description
RXFFLU
1
rw
Receive FIFO Flush
0
No operation
1
Receive FIFO is flushed
Note: Setting RXFFLU clears bitfield RXFFL in
register FSTAT. RXFFLU is always read as 0.
RXFEN
0
rw
Receive FIFO Enable
0
Receive FIFO is disabled
1
Receive FIFO is enabled
Note: Resetting RXFEN automatically flushes the
receive FIFO.
Note: After a successful autobaud detection sequence, the RXFIFO should be flushed
before data is received.
User’s Manual
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Transmit FIFO Control Register
ASCx_TXFCON
Transmit FIFO Control Reg.
15
14
13
12
11
ESFR (Table 19-13)
10
9
8
7
6
Reset Value: 0100H
5
4
3
2
1
-
TXFITL
-
TX
TM
EN
-
rw
-
rw
0
TXF TXF
FLU EN
rw
rw
Field
Bits
Type
Description
TXFITL
[11:8]
rw
Transmit FIFO Interrupt Trigger Level
Defines a transmit FIFO interrupt trigger level. A
transmit interrupt request (TIR) is generated after the
transfer of a byte when the filling level of the transmit
FIFO is equal to or lower than TXFITL.
0000 Reserved. Do not use this combination
0001 Interrupt trigger level is set to one
0010 Interrupt trigger level is set to two
…
…
0111 Interrupt trigger level is set to seven
1000 Interrupt trigger level is set to eight
Note: In Transparent Mode this bitfield is don’t care.
Note: Combinations defining an interrupt trigger level
greater than the FIFO size should not be used.
TXTMEN
2
rw
Transmit FIFO Transparent Mode Enable
0
Transmit FIFO Transparent Mode is disabled
1
Transmit FIFO Transparent Mode is enabled
Note: This bit is don’t care if the receive FIFO is
disabled (TXFEN = 0).
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Field
Bits
Type
Description
TXFFLU
1
rw
Transmit FIFO Flush
0
No operation
1
Transmit FIFO is flushed
Note: Setting TXFFLU clears bitfield TXFFL in
register ASCx_FSTAT. TXFFLU is always
read as 0.
TXFEN
0
rw
Transmit FIFO Enable
0
Transmit FIFO is disabled
1
Transmit FIFO is enabled
Note: Resetting TXFEN automatically flushes the
transmit FIFO.
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
FIFO Status Register
ASCx_FSTAT
FIFO Status Register
15
14
13
12
ESFR (Table 19-13)
11
10
9
8
7
Reset Value: 0000H
6
5
4
3
2
1
-
TXFFL
-
RXFFL
-
rh
-
rh
Field
Bits
Type
Description
TXFFL
[11:8]
rh
Transmit FIFO Filling Level
0000 Transmit FIFO is filled with zero bytes
0001 Transmit FIFO is filled with one byte
…
…
0111 Transmit FIFO is filled with seven bytes
1000 Transmit FIFO is filled with eight bytes
0
Note: TXFFL is cleared after a receive FIFO flush
operation.
RXFFL
[3:0]
rh
Receive FIFO Filling Level
0000 Receive FIFO is filled with zero bytes
0001 Receive FIFO is filled with one byte
…
…
0111 Receive FIFO is filled with seven bytes
1000 Receive FIFO is filled with eight bytes
Note: RXFFL is cleared after a receive FIFO flush
operation.
User’s Manual
ASC_X8, V2.1
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
19.9
Interfaces of the ASC Modules
In the XC167 the ASC modules are connected to IO ports and other internal modules
according to Figure 19-21 and Figure 19-22.
The input/output lines of ASC0 and ASC1 are connected to pins of Ports P3. The
6 interrupt request lines of each module are connected to the Interrupt Control Block.
Clock control and emulation control of the SSC Module is handled by the System Control
Unit, SCU.
System
Control
Unit (SCU)
fASC
ASC0DIS
S0RxD
P3.11/RxDA0
S0TIRQ
S0RIRQ
Interrupt
Control
Block
ASC0
Module
S0EIRQ
S0TxD
Port P3
Control
P3.10/TxDA0
S0TBIRQ
S0ABIRQ1
S0ABIRQ2
MCA05452
Figure 19-21 ASC0 Module Interfaces
System
Control
Unit (SCU)
fASC
ASC1DIS
S1RxD
P3.1/RxDA1
S1TIRQ
S1RIRQ
Interrupt
Control
Block
ASC1
Module
S1EIRQ
S1TxD
Port P3
Control
P3.0/TxDA1
S1TBIRQ
S1ABIRQ1
S1ABIRQ2
MCA05453
Figure 19-22 ASC1 Module Interfaces
User’s Manual
ASC_X8, V2.1
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Peripheral Units (Vol. 2 of 2)
Asynchronous/Synchronous Serial Interface (ASC)
Note: In synchronous operating mode, the direction of the RxD pin is not automatically
set by the ASC modules; it must be switched by software via the corresponding bit
in register DP3, depending on the selected mode (receive or transmit data).
Note: To select RxDA1 as alternate output function for P3.1, it is sufficient to set bit 1 of
register ALTSEL0P3, the corresponding bit in register ALTSEL1P3 is “don’t care”.
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High-Speed Synchronous Serial Interface (SSC)
20
High-Speed Synchronous Serial Interface (SSC)
The XC167 contains two High-Speed Synchronous Serial Interfaces, SSC0 and SSC1.
The following sections present the general features and operations of such an SSC
module. The final section describes the actual implementation of the two SSC modules
including their interconnections with other on-chip modules.
20.1
Introduction
The High-Speed Synchronous Serial Interface (SSC) supports both full-duplex and halfduplex serial synchronous communication up to 20 Mbit/s (@ 40 MHz module clock).
The serial clock signal can be generated by the SSC itself (Master Mode) or can be
received from an external master (Slave Mode). Data width, shift direction, clock polarity,
and phase are programmable. This supports communication with SPI-compatible
devices. Transmission and reception of data is double-buffered. A 16-bit baudrate
generator provides the SSC with a separate serial clock signal.
Features and Functions
•
•
•
•
Master and Slave Mode operation
– Full-duplex or half-duplex operation
Flexible data format
– Programmable number of data bits: 2 to 16 bits
– Programmable shift direction: LSB or MSB shift first
– Programmable clock polarity: idle low or high state for the shift clock
– Programmable clock/data phase:
data shift with leading or trailing edge of the shift clock
Baudrate generation from 20 Mbit/s to 306.6 bit/s (@ 40 MHz module clock)
Interrupt generation
– On a Transmitter-Empty condition
– On a Receiver-Full condition
– On an Error condition (receive, phase, baudrate, transmit error)
20.2
Operational Overview
The high-speed synchronous serial interface can be configured in a very flexible way, so
it can be used with other synchronous serial interfaces, can serve for master/slave or
multimaster interconnections or can operate compatible with the popular SPI interface.
Thus, the SSC can be used to communicate with shift registers (IO expansion),
peripherals (e.g. EEPROMs, etc.) or other controllers (networking). The SSC supports
half-duplex and full-duplex communication. Data is transmitted on lines MTX/STX or
received on lines MRX/SRX, connected with pins MTSR (Master Transmit/Slave
Receive) and MRST (Master Receive/Slave Transmit). The clock signal is output via line
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High-Speed Synchronous Serial Interface (SSC)
MSCLK (Master Serial Shift Clock) or input via line SSCLK (Slave Serial Shift Clock).
Both lines are connected to pin SCLK. These pins are alternate functions of port pins.
A block diagram of the SSC Module is shown in Figure 20-2.
From the programmer’s point of view, the term ‘SSC unit’ refers to a set of registers (see
Figure 20-1) which are associated with this peripheral, including the port pins which may
be used for alternate input/output functions, and including their direction control bits.
Interrupt Registers
TB
CON
TIC
P3
RB
BR
RIC
DP3
EIC
System Registers
ALTSEL0P3
P1H
DP1H
ALTSEL0P1H
SSC0
Control Registers
SSC1
Data Registers
SYSCON3
OPSEN
TB / RB
CON
BR
TIC / RIC / EIC
Py
DPy
ALTSEL0Py
SYSCON3
Transmit / Receive Buffer Register
SSC Control Register
Baudrate Timer / Reload Register
Transmit / Receive / Error Interrupt Control Register
Port Py Data Register (y = 1H, 3)
Port Py Direction Control Register (y = 1H, 3)
Port Py Alternate Output Select Register 0 (y = 1H, 3)
SCU System Control Register 3
MCA05454
Figure 20-1 SFRs Associated with the SSC Unit
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High-Speed Synchronous Serial Interface (SSC)
Baudrate
Generator
fSSC
MSCLK
Clock
Control
TIRQ
RIRQ
SSC
Control Block
Status
EIRQ
Transmit Interrupt
Receive Interrupt Request
Error Interrupt Request
MTX
Control
Input/
Output
Line
Control
16-bit Shift
Register
16-bit Shift
Register
to Pin
SCLK
SSCLK
MRX
STX
SRX
to Pin
MTSR
to Pin
MRST
16-bit Shift
Register
MCB05455
Figure 20-2 Synchronous Serial Channel (SSC) Block Diagram
20.2.1
Operating Mode Selection
The operating mode of the SSC module is controlled by its control register SSCx_CON.
This register has a double function:
•
•
During programming (SSC disabled by SSCx_CON.EN = 0), it provides access to a
set of control bits
During operation (SSC enabled by SSCx_CON.EN = 1), it provides access to a set
of status flags
In the following, the layout of register CON is shown for both functions.
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SSC Control Register (SSCx_CON.EN = 0: Programming Mode)
SSCx_CON
SSC Control Register
15
14
13
EN
=0
MS
-
rw
rw
-
12
SFR (Table 20-2)
11
10
9
8
A
BEN PEN REN TEN
REN
rw
rw
rw
rw
rw
Reset Value: 0000H
7
6
5
4
3
2
1
LB
PO
PH
HB
BM
rw
rw
rw
rw
rw
0
Field
Bits
Type
Description
EN
15
rw
Enable Bit = 0
Transmission and reception disabled. Access to
control bits.
MS
14
rw
Master Select
0
Slave Mode. Operate on shift clock received
via SCLK.
1
Master Mode. Generate shift clock and output
it via SCLK.
AREN
12
rw
Automatic Reset Enable
0
No additional action upon a baudrate error
1
The SSC is automatically reset upon a
baudrate error
BEN
11
rw
Baudrate Error Enable
0
Ignore baudrate errors
1
Check baudrate errors
PEN
10
rw
Phase Error Enable
0
Ignore phase errors
1
Check phase errors
REN
9
rw
Receive Error Enable
0
Ignore receive errors
1
Check receive errors
TEN
8
rw
Transmit Error Enable
0
Ignore transmit errors
1
Check transmit errors
LB
7
rw
Loop Back Control
0
Normal output
1
Receive input is connected with transmit
output (half-duplex mode)
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Field
Bits
Type
Description
PO
6
rw
Clock Polarity Control
0
Idle clock line is low, leading clock edge is lowto-high transition.
1
Idle clock line is high, leading clock edge is
high-to-low transition.
PH
5
rw
Clock Phase Control
0
Shift transmit data on the leading clock edge,
latch on trailing edge.
1
Latch receive data on leading clock edge, shift
on trailing edge.
HB
4
rw
Heading Control
0
Transmit/Receive LSB First
1
Transmit/Receive MSB First
BM
[3:0]
rw
Data Width Selection
0000 Reserved. Do not use this combination.
0001 Transfer Data Width is 2 bits
…
Transfer Data Width is (<BM> + 1)
1111 Transfer Data Width is 16 bits
SSC Control Register (SSCx_CON.EN = 1: Operating Mode)
SSCx_CON
SSC Control Register
15
14
13
EN
=1
MS
-
rw
rw
-
12
SFR (Table 20-2)
Reset Value: 0000H
11
10
9
8
7
6
5
4
BSY BE
PE
RE
TE
-
-
-
-
BC
rwh
rwh
rwh
-
-
-
-
rh
rh
rwh
3
2
1
0
Field
Bits
Type
Description
EN
15
rw
Enable Bit = 1
Transmission and reception enabled. Access to
status flags and M/S control.
MS
14
rw
Master/Slave Selection
0
Slave Mode. Operate on shift clock received
via SCLK.
1
Master Mode. Generate shift clock and output
it via SCLK.
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High-Speed Synchronous Serial Interface (SSC)
Field
Bits
Type
Description
BSY
12
rh
Busy Flag
Set while a transfer is in progress.
BE
11
rwh
Baudrate Error Flag
0
No error
1
More than factor 2 or 0.5 between slave’s
actual and expected baudrate
PE
19
rwh
Phase Error Flag
0
No error
1
The received data has changed around
sampling clock edge
RE
9
rwh
Receive Error Flag
0
No error
1
A reception was completed before the receive
buffer was read
TE
8
rwh
Transmit Error Flag
0
No error
1
A transfer has started with the slave’s transmit
buffer not being updated
BC
[3:0]
rh
Bit Count Field
Shift counter is updated with every shifted bit.
Note: The target of an access to SSCx_CON (control bits or flags) is determined by the
state of bit EN prior to the access; that is, writing C057H to SSCx_CON in
programming mode (EN = 0) will initialize the SSC (EN was 0) and then turn it on
(EN = 1). When writing to SSCx_CON, ensure that reserved locations receive
zeros.
Transmitter Buffer Register
The SSC Transmit Buffer Register SSCx_TB (see Table 20-2) contains the transmit
data value. Unselected bits of SSCx_TB are ignored during transmission. The transmit
value must be right-aligned regardless of MSB or LSB first operation.
Receiver Buffer Register
The SSC Receive Buffer Register SSCx_RB (see Table 20-2) contains the receive data
value. Unselected bits of SSCx_RB will be not valid and should be ignored. The received
value is always right-aligned regardless of MSB or LSB first operation.
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High-Speed Synchronous Serial Interface (SSC)
The shift register of the SSC is connected to both, the transmit lines and the receive lines
via the pin control logic (see block diagram in Figure 20-2). Transmission and reception
of serial data are synchronized and take place at the same time, i.e. the same number
of transmitted bits is also received.
To prepare for a transfer, the transmit data is written into the Transmit Buffer (SSCx_TB)
by software. It is moved to the shift register as soon as this is empty. An SSC master
(CON.MS = 1) immediately begins transmitting, while an SSC slave (CON.MS = 0) will
wait for an active shift clock. When the transfer starts, the busy flag CON.BSY is set and
the Transmit Interrupt Request line TIRQ will be activated to indicate that register
SSCx_TB may be reloaded again. When the programmed number of bits (2 … 16) has
been transferred, the contents of the shift register are moved to the Receive Buffer
SSCx_RB and the Receive Interrupt Request line RIRQ is activated. If no further transfer
is to take place (SSCx_TB is empty), CON.BSY will be cleared at the same time.
Software should not modify CON.BSY, as this flag is hardware controlled.
Note: Only one SSC can be master at a given time in a serial system.
The transfer of serial data bits can be programmed in many respects:
•
•
•
•
•
•
The data width can be specified from 2 bits to 16 bits
A transfer may start with either the LSB or the MSB
The shift clock may be idle low or idle high
The data bits may be shifted with the leading edge or the trailing edge of the shift
clock signal
The baudrate may be set from 306.6 bit/s up to 20 Mbit/s (@ 40 MHz module clock)
The shift clock can be generated (MSCLK) or can be received (SSCLK)
These features allow the adaptation of the SSC to a wide range of applications in which
serial data transfer is required.
The Data Width Selection supports the transfer of frames of any data length, from 2-bit
“characters” up to 16-bit “characters”. Starting with the LSB (CON.HB = 0) enables
communication with SSC devices in Synchronous Mode or with 8051-like serial
interfaces, for example. Starting with the MSB (CON.HB = 1) enables operation
compatible with the SPI interface.
Regardless of the data width selected and whether the MSB or the LSB is transmitted
first, the transfer data is always right-aligned in registers SSCx_TB and SSCx_RB, with
the LSB of the transfer data in bit 0 of these registers. The data bits are rearranged for
transfer by the internal shift register logic. The unselected bits of SSCx_TB are ignored;
the unselected bits of SSCx_RB will not be valid and should be ignored by the receiver
service routine.
The Clock Control allows the adaptation of transmit and receive behavior of the SSC to
a variety of serial interfaces. A specific shift clock edge (rising or falling) is used to shift
out transmit data, while the other shift clock edge is used to latch in receive data. Bit PH
selects the leading edge or the trailing edge for each function. Bit PO selects the level of
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the shift clock line in the idle state. Thus, for an idle-high clock, the leading edge is a
falling edge, a 1-to-0 transition (see Figure 20-3).
Shift Clock
SCLK
CON. CON.
PO
PH
0
0
0
1
1
0
1
1
Pins
MTSR/MRST
Transmit Data
First
Bit
Last
Bit
Latch Data
Shift Data
MCT05456
Figure 20-3 Serial Clock Phase and Polarity Options
20.2.2
Full-Duplex Operation
In a Full-Duplex serial configuration, illustrated in Figure 20-4, the various devices are
connected via three lines. The definition of these lines is always determined by the
master: The line connected to the master’s data output line MTSR is the transmit line;
the receive line is connected to its data input line MRST; the shift clock line is SCLK. Only
the device selected for master operation generates and outputs the shift clock on line
SCLK. All slaves receive this clock; thus, their SCLK pin must be switched to input mode.
The output of the master’s shift register is connected to the external transmit line, which
in turn is connected to the slaves’ shift register inputs. The outputs of the slaves’ shift
register are connected to the external receive line in order to enable the master to
receive the data shifted out of the slaves. The external connections are hard-wired, the
function and direction of these pins is determined by the master or slave operation of the
individual device.
Note: The shift direction shown in Figure 20-4 applies for MSB-first operation as well as
for LSB-first operation.
When initializing the devices in this configuration, one device must be selected for
master operation while all other devices must be programmed for slave operation.
Initialization includes the operating mode of the device’s SSC and also the function of
the respective port lines.
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High-Speed Synchronous Serial Interface (SSC)
Master
Device #1
Device #2
Shift Register
Clock
Slave
Shift Register
MTSR
Transmit
MTSR
MRST
Receive
MRST
SCLK
Clock
SCLK
Symbols
Clock
Device #3
Slave
Shift Register
Input
MTSR
Push/Pull Output
MRST
Open-Drain Output
SCLK
Clock
Tri-Stated = Input
MCA05457
Figure 20-4 SSC Full-Duplex Configuration
The data output pins MRST of all slave devices are connected together onto the one
receive line in the configuration shown in Figure 20-4. During a transfer, each slave
shifts out data from its shift register. There are two ways to avoid collisions on the receive
line due to different slave data:
•
•
Only one slave drives the line, i.e. enables the driver of its MRST pin. All the other
slaves must have their MRST pins programmed as input so only one slave can put
its data onto the master’s receive line. Only receiving data from the master is
possible. The master selects the slave device from which it expects data either by
separate select lines, or by sending a special command to this slave. The selected
slave then switches its MRST line to output until it gets a de-selection signal or
command.
In the configuration depicted in Figure 20-4, Device #2 is the slave which has its
output driver enabled as push/pull output. Device #3 is an inactive slave, it needs to
disable its output driver by programming the pin to input mode.
The slaves use their MRST outputs in open-drain mode. This forms a wired-AND
connection. The receive line needs an external pull-up in this case. Corruption of the
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High-Speed Synchronous Serial Interface (SSC)
data on the receive line sent by the selected slave is avoided when all slaves not
selected for transmission to the master only send ones (1). Because this high level is
not actively driven onto the line, but only held through the pull-up device, the selected
slave can pull this line actively to a low level when transmitting a zero bit. The master
selects the slave device from which it expects data either by separate select lines or
by sending a special command to this slave.
After performing the necessary initialization of the SSC, the serial interfaces can be
enabled. For a master device, the clock line MSCLK will now go to its programmed
polarity. The output data line MTX will go to either 0 or 1 until the first transfer will start.
After a transfer, the data line MTX will always remain at the logic level of the last
transmitted data bit.
When the serial interfaces are enabled, the master device can initiate the first data
transfer by writing the transmit data into register SSCx_TB. This value is copied into the
shift register (assumed to be empty at this time), and the selected first bit of the transmit
data will be placed onto the transmit line MTSR on the next clock from the baudrate
generator (transmission starts only if bit EN = 1). Depending on the selected clock
phase, a clock pulse will also be generated on the SCLK line. At the same time, with the
opposite clock edge, the master latches and shifts in the data detected at its input line
MRST. This “exchanges” the transmit data with the receive data. Because the clock line
is connected to all slaves, their shift registers will be shifted synchronously with the
master’s shift register, shifting out the data contained in the registers, and shifting in the
data detected at the input line. After the preprogrammed number of clock pulses (via the
data width selection), the data transmitted by the master is contained in all the slaves’
shift registers, while the master’s shift register holds the data of the selected slave. In the
master and all slaves, the contents of the shift register are copied into the receive buffer
SSCx_RB and the receive interrupt line RIRQ is activated.
A slave device will immediately output the selected first bit (MSB or LSB of the transfer
data) at line MRST when the contents of the transmit buffer are copied into the slave’s
shift register. Bit BSY is not set until the first clock edge at SCLK appears. The slave
device will not wait for the next clock from the baudrate generator, as the master does.
The reason for this is that, depending on the selected clock phase, the first clock edge
generated by the master may already be used to clock in the first data bit. Thus, the
slave's first data bit must already be valid at this time.
Note: On the SSC, a transmission and a reception takes place at the same time,
regardless of whether valid data has been transmitted or received.
Note: The initialization of the CLK pin on the master requires some attention in order to
avoid undesired clock transitions, which may disturb the other devices. Before the
clock pin is switched to output via the related direction control register, the clock
output level shall be selected in the control register SSCx_CON and the alternate
output be prepared via the related ALTSEL register, or the output latch must be
loaded with the clock idle level.
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20.2.3
Half-Duplex Operation
In a Half-Duplex configuration, only one data line is necessary for both, receiving and
transmitting of data. The data exchange line is connected to both, the MTSR and MRST
pins of each device, the shift clock line is connected to the SCLK pin.
The master device controls the data transfer by generating the shift clock, while the slave
devices receive it. Due to the fact that all transmit and receive pins are connected to the
one data exchange line, serial data may be moved between arbitrary stations.
Similar to Full-Duplex mode, there are two ways to avoid collisions on the data exchange
line:
•
•
only the transmitting device may enable its transmit pin driver
the non-transmitting devices use open-drain outputs and send only ones (1s).
Because the data inputs and outputs are connected together, a transmitting device will
clock in its own data at the input pin (MRST for a master device, MTSR for a slave). By
this method, any corruptions on the common data exchange line are detected if the
received data is not equal to the transmitted data.
Master
Device #1
Transmit
Device #2
Shift Register
Clock
Slave
Shift Register
MTSR
MTSR
MRST
MRST
SCLK
Clock
Symbols
SCLK
Clock
Device #3
Slave
Shift Register
Input
MTSR
Push/Pull Output
MRST
Open-Drain Output
SCLK
Clock
Tri-Stated = Input
MCA05458
Figure 20-5 SSC Half-Duplex Configuration
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20.2.4
Continuous Transfers
When the transmit interrupt request flag is set, it indicates that the transmit buffer
SSCx_TB is empty and ready to be loaded with the next transmit data. If SSCx_TB has
been reloaded by the time the current transmission is finished, the data is immediately
transferred to the shift register and the next transmission will start without any additional
delay. On the data line, there is no gap between the two successive frames. For
example, two 8-bit transfers would look the same as one 16-bit transfer. This feature can
be used to interface with devices that can operate with or require more than 16 data bits
per transfer. It is just a matter of software, how long a total data frame length can be. This
option can also be used to interface to byte-wide and word-wide devices on the same
serial bus, for instance.
Note: Of course, this can happen only in multiples of the selected basic data width,
because it would require disabling/enabling of the SSC to reprogram the basic
data width on-the-fly.
20.2.5
Baudrate Generation
The serial channel SSC has its own dedicated 16-bit Baudrate Generator with 16-bit
reload capability, facilitating baudrate generation independent of the timers. Figure 20-6
shows the baudrate generator of the SSC in more detail.
16-bit Reload Register
fSSC
2
16-bit Counter
fSCLK
fSCLKmax in Master Mode ≤ fSSC / 2
fSCLKmax in Slave Mode ≤ fSSC / 4
MCA05459
Figure 20-6 SSC Baudrate Generator
The Baudrate Generator is clocked with the module clock fSSC. The counter counts
downwards. Access to the Baudrate Generator is performed via one register, SSCx_BR,
described below.
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Baudrate Timer/Reload Register
The SSC Baudrate Timer/Reload Register SSCx_BR has a double function.
While the SSC is disabled, it serves as the reload register for the baudrate timer. Writing
to it loads the timer reload register with the written reload value. Reading returns the
current reload value.
While the SSC is enabled, this register reflects the current baudrate timer contents.
Writing to this register is not allowed while the SSC is enabled.
Baudrate Calculation
The timer is loaded with the reload value and starts counting immediately when the SSC
is enabled. The formulas below calculate either the resulting baudrate for a given reload
value, or the required reload value for a given baudrate:
f
SSC
Baudrate = -------------------------------------2 × ( <BR> + 1 )
f
SSC
BG = -----------------------------------–1
2 × Baudrate
(20.1)
<BR> represents the contents of the reload register, taken as unsigned 16-bit integer;
while baudrate is equal to fSCLK as shown in Figure 20-6.
The maximum baudrate that can be achieved when using a module clock of 40 MHz is
20 Mbit/s in Master Mode (with <BR> = 0000H) or 10 Mbit/s in Slave Mode (with <BR> =
0001H).
Table 20-1 lists some possible baudrates together with the required reload values and
the resulting bit times, assuming a module clock of 40 MHz.
Table 20-1
Typical Baudrates of the SSC (fSSC = 40 MHz)
Reload Value
Baudrate (= fSCLK)
Deviation
0000H
20 Mbit/s (only in Master Mode)
0.0%
0001H
10 Mbit/s
0.0%
0009H
2 Mbit/s
0.0%
0013H
1 Mbit/s
0.0%
001AH
750 kbit/s
-1.25%
0027H
500 kbit/s
0.0%
0063H
200 kbit/s
0.0%
00C7H
100 kbit/s
0.0%
FFFFH
306.6 bit/s
0.0%
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20.2.6
Error Detection Mechanisms
The SSC is able to detect four different error conditions. Receive Error and Phase Error
are detected in all modes; Transmit Error and Baudrate Error only apply to Slave Mode.
When an error is detected, the respective error flag in register SSCx_CON is set and an
error interrupt request will be generated by activating the EIRQ line (see Figure 20-7).
The error interrupt handler may then check the error flags to determine the cause of the
error interrupt. The error flags are not reset automatically but rather must be cleared by
software after servicing. This allows servicing of some error conditions via interrupt,
while the others may be polled by software.
Note: The error interrupt handler must clear the associated (enabled) error flag(s) to
prevent repeated interrupt requests.
Bits in Register
CON
TEN
Transmit
Error
TE
REN
Receive
Error
Error
Error
_
>1
Error Interrupt
Request EIRQ
&
PE
BEN
Baudrate
&
RE
PEN
Phase
&
&
BE
MCA05460
Figure 20-7 SSC Error Interrupt Control
A Receive Error (Master or Slave Mode) is detected when a new data frame is
completely received but the previous data was not read out of the receive buffer register
SSCx_RB. This condition sets the error flag RE and, when enabled via bit REN, the error
interrupt request line EIRQ. The old data in the receive buffer SSCx_RB will be
overwritten with the new value and is irretrievably lost.
A Phase Error (Master or Slave Mode) is detected when the incoming data at pin MRST
(Master Mode) or MTSR (Slave Mode), sampled with the same frequency as the module
User’s Manual
SSC_X, V2.0
20-14
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
High-Speed Synchronous Serial Interface (SSC)
clock, changes between one cycle before and two cycles after the latching edge of the
shift clock signal SCLK. This condition sets the error flag PE and, when enabled via bit
PEN, the error interrupt request line EIRQ.
A Baudrate Error (Slave Mode) is detected when the incoming clock signal deviates
from the programmed baudrate by more than 100%, i.e. it either is more than double or
less than half the expected baudrate. This condition sets the error flag BE and, when
enabled via bit BEN, the error interrupt request line EIRQ. Using this error detection
capability requires that the slave’s baudrate generator is programmed to the same
baudrate as the master device. This feature detects false, additional or missing, pulses
on the clock line (within a certain frame).
Note: If this error condition occurs and bit AREN = 1, an automatic reset of the SSC will
be performed in case of this error. This is done to re-initialize the SSC if too few or
too many clock pulses have been detected.
A Transmit Error (Slave Mode) is detected when a transfer was initiated by the master
(SCLK gets active), but the transmit buffer SSCx_TB of the slave was not updated since
the last transfer. This condition sets the error flag TE and, when enabled via bit TEN, the
error interrupt request line EIRQ. If a transfer starts while the transmit buffer is not
updated, the slave will shift out the ‘old’ contents of the shift register, which usually is the
data received during the last transfer. This may lead to corruption of the data on the
transmit/receive line in half-duplex mode (open-drain configuration) if this slave is not
selected for transmission. This mode requires that slaves not selected for transmission
only shift out ones; that is, their transmit buffers must be loaded with FFFFH prior to any
transfer.
Note: A slave with push/pull output drivers not selected for transmission will usually have
its output drivers switched off. However, in order to avoid possible conflicts or
misinterpretations, it is recommended to always load the slave's transmit buffer
prior to any transfer.
The cause of an error interrupt request (receive, phase, baudrate, transmit error) can be
identified by the error status flags in control register SSCx_CON.
Note: The error status flags TE, RE, PE, and BE, are not reset automatically upon entry
into the error interrupt service routine, but must be cleared by software.
User’s Manual
SSC_X, V2.0
20-15
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
High-Speed Synchronous Serial Interface (SSC)
20.2.7
SSC Register Summary
Table 20-2
Name
SSC Module Register Summary
Description
SSC0
Addresses
16-Bit
Reg.
Area
8-Bit
SSC1
Addresses
16-Bit
8-Bit
SSCx_CON
Control Register
FFB2H D9H
SFR
FF5EH AFH
SSCx_BR
Baudrate Timer Reload
Register
F0B4H 5AH
ESFR
F05EH 2FH
SSCx_TB
Transmit Buffer Register
F0B0H 58H
ESFR
F05AH 2DH
SSCx_RB
Receive Buffer Register
F0B2H 59H
ESFR
F05CH 2EH
SSCx_TIC
Transmit Interrupt Control FF72H
Register
B9H
SFR/
ESFR
F1AAH D5H
SSCx_RIC
Receive Interrupt Control
Register
FF74H
BAH
SFR/
ESFR
F1ACH D6H
SSCx_EIC
Error Interrupt Control
Register
FF76H
BBH
SFR/
ESFR
F1AEH D7H
User’s Manual
SSC_X, V2.0
20-16
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
High-Speed Synchronous Serial Interface (SSC)
20.2.8
Port Configuration Requirements
Table 20-3 shows the required register setting to configure the IO lines of the SSC
modules for master or slave mode operation.
Table 20-3
SSC0/SSC1 IO Selection and Setup
Module Mode
SSC0
Alternate Select
Register
Direction and
Port Output
Register
IO
Master P3.8 / MRST0
ALTSEL0P3.P8 = 1
DP3.P8 = 0
Input
P3.9 / MTSR0
ALTSEL0P3.P9 = 1
DP3.P9 = 1
and P3.P9 = 1
Output
P3.13 / SCLK0
ALTSEL0P3.P13 = 1
Output
DP3.P13 = 1
and P3.P13 = 1
P3.8 / MRST0
ALTSEL0P3.P8 = 1
DP3.P8 = 1
and P3.P8 = 1
Output
P3.9 / MTSR0
ALTSEL0P3.P9 = 1
DP3.P9 = 0
Input
P3.13 / SCLK0
ALTSEL0P3.P13 = 1
DP3.P13 = 0
Input
Master P1H.1 / MRST1
ALTSEL0P1H.P1 = 1
DP1H.P1 = 0
Input
P1H.2 / MTSR1
ALTSEL0P1H.P2 = 1
DP1H.P2 = 1
Output
P1H.3 / SCLK1
ALTSEL0P1H.P3 = 1
DP1H.P3 = 1
Output
P1H.1 / MRST1
ALTSEL0P1H.P1 = 1
DP1H.P1 = 1
Output
P1H.2 / MTSR1
ALTSEL0P1H.P2 = 1
DP1H.P2 = 0
Input
P1H.3 / SCLK1
ALTSEL0P1H.P3 = 1
DP1H.P3 = 0
Input
Slave
SSC1
Slave
Port Lines
Note: The direction control bits in registers DP3 or DP1H must be set or cleared by
software depending on the mode of operation selected (master or slave mode).
They are not controlled automatically by the SSC modules.
User’s Manual
SSC_X, V2.0
20-17
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
High-Speed Synchronous Serial Interface (SSC)
20.3
Interfaces of the SSC Modules
In the XC167 the SSC modules are connected to IO ports and other internal modules
according to Figure 20-8 and Figure 20-9.
The input/output lines of SSC0 are connected to pins of Ports P3, while the input/output
lines of SSC1 are connected to pins of Ports P1H. The three interrupt request lines of
each module are connected to the Interrupt Control Block.
Clock control and emulation control of the SSC Module is handled by the System Control
Unit, SCU.
System
Control
Unit (SCU)
fSSC
MTX
SSC0DIS
P3.8/MRST0
MRX
STX
SSC0_TIRQ
Interrupt
Control
Block
SSC0
Module
SRX
Port P3
Control
P3.9/MTSR0
MSCLK
SSC0_RIRQ
SSCLK
SSC0_EIRQ
P3.13/SCLK0
MCA05461
Figure 20-8 SSC0 Module Interfaces
System
Control
Unit (SCU)
fSSC
MTX
SSC1DIS
P1H.1/MRST1
MRX
STX
SSC1_TIRQ
Interrupt
Control
Block
SSC1
Module
SSC1_RIRQ
SSC1_EIRQ
SRX
Port P1H
Control
P1H.2/MTSR1
MSCLK
SSCLK
P1H.3/SCLK1
MCA05462
Figure 20-9 SSC1 Module Interfaces
User’s Manual
SSC_X, V2.0
20-18
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
IIC-Bus Module
21
IIC-Bus Module
The IIC-Bus supports a defined protocol to enable devices to communicate directly with
each other via a simple two-wire serial interface. One line is responsible for clock transfer
and synchronization (SCL), the other is responsible for the data transfer (SDA).
The on-chip IIC-Bus Module connects the XC167 to other external controllers and/or
peripherals via the two-line serial IIC-Bus interface. The IIC-Bus Module provides
communication at data rates of up to 400 kbit/s and features 7-bit addressing as well as
10-bit addressing. This module is fully compatible to the IIC bus protocol.
The module can operate in three different modes:
Master mode, where the IIC-Bus Module controls the bus transactions and provides the
clock signal.
Slave mode, where an external master controls the bus transactions and provides the
clock signal.
Multimaster mode, where several masters can be connected to the bus, i.e. the IIC-Bus
Module can be master or slave.
The on-chip IIC-Bus Module allows efficient communication via the common IIC-Bus.
The module unloads the CPU of low level tasks like
•
•
•
•
•
Serialization/De-serialization of bus data
Generation of start and stop conditions
Monitoring of the bus lines
Evaluation of the device address in slave mode
Bus access arbitration in multi-master mode
Features
•
•
•
•
•
•
Extended buffer allows up to 4 transmit/receive data bytes to be stored
Selectable baudrate generation
Support of standard 100 kbit/s and extended 400 kbit/s data rates
Operation in 7-bit addressing or 10-bit addressing mode
Flexible control via interrupt service routines or by polling
Dynamic access to up to 3 physical IIC buses
Applications
•
•
•
•
•
EEPROMs
7-Segment Displays
Keyboard Controllers
On-Screen Display
Audio Processors
User’s Manual
IIC_X, V2.0
21-1
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
IIC-Bus Module
21.1
Overview
A block diagram of the XC167 IIC-Bus Module is shown in Figure 21-1, while
Figure 21-2 illustrates a possible serial interface system.
fIIC
Baudrate
Generator
DIRQ Interrupt Request
Module Control
& Status Logic
PIRQ Interrupt Request
Receive/
Transmit
Buffer
Clock Line SCL
Address
Logic
IIC-Bus
Driver &
Monitor
Shift
Register
Pin Enable Lines
Data Line SDA
MCB05463
Figure 21-1 IIC-Bus Module Block Diagram
The IIC-Bus Module has its own flexible Baudrate Generator. A 4-byte Receive/Transmit
Buffer enables software to write or read longer message and eliminates the need to react
after each received/transmitted byte. Serialization and de-serialization of the byte data
is performed via an 8-bit Shift Register. The Address Logic analyzes the received slave
address and informs the Control Logic when the device has been contacted by another
station in the system. The Control and Status Logic controls the entire module and
provides a number of status signals and flags, reflecting the conditions of the module to
the software.
To operate in an IIC-Bus system, it is not only necessary for a station to be able to drive
the clock and data lines of the IIC-Bus, but also to monitor the actual levels on these lines
and to detect special conditions, such as the start and stop conditions, and to perform
clock synchronization as well as bus arbitration. This is handled by the IIC-Bus Driver
and Monitor block. In addition, this block provides the port pin enable control for the three
possible SCL/SDA signal pairs.
Due to the feature that the IIC-Bus Module of the XC167 can control up to three
SCL/SDA signal pairs, it is possible to build a system with separate IIC-buses as shown
in Figure 21-2.
User’s Manual
IIC_X, V2.0
21-2
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
IIC-Bus Module
Note: Per definition, an IIC-Bus system is a Wired-AND configuration. The active
(dominant) level is the low level, while the high level is not actively driven by the
stations (or nodes), but held through external pull-up devices. For this purpose,
the respective pin drivers must be switched to open drain mode.
IIC-Bus A
SDA0
SCL0
On-Chip
IIC-Bus
Module
IIC Bus
Node #x
IIC Bus
Node #y
SDA1
SCL1
IIC-Bus B
MCA05464
Figure 21-2 IIC-Bus Configuration Example
In an IIC-Bus system, a station may be able to play different roles: Master-Transmitter
(a master device which is sending data to one or more slaves), Master-Receiver (a
master which is receiving data from a slave), Slave-Transmitter (a slave which is sending
data to a master) and Slave-Receiver.
User’s Manual
IIC_X, V2.0
21-3
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
IIC-Bus Module
From the programmer’s point of view, the term ‘IIC-Bus Module’ refers to a set of
registers which are associated with this peripheral, including the port pins which may be
used for alternate input/output functions, and including their direction control bits.
Figure 21-3 shows the Special Function registers (SFRs) associated with the IIC-Bus
Module.
Data Registers
Control/Status Reg.
Interrupt Registers
System Registers
RTBL
CON
DIC
P9
RTBH
CFG
PEIC
DP9
ADR
ST
ODP9
ALTSEL0P9
ALTSEL1P9
SYSCON3
OPSEN
RTBL / RTBH
CON
CFG
ADR
DIC
PEIC
P9
DP9
ODP9
ALTSELxP9
SCU_SYSCON3
SCU_OPSEN
Receive / Transmit Buffer Register
Control Register
Configuration Register
Address Register
Data Interrupt Control Register
Protocol Event Interrupt Control Register
Port P9 Data Register
Port P9 Direction Control Register
Port P9 Open-Drain Control Register
Port P9 Alternate Output Select Register (x = 0, 1)
SCU System Control Register 3
SCU OCDS Peripheral Suspend Enable Register
MCA05465
Figure 21-3 SFRs Associated with the IIC-Bus Module
User’s Manual
IIC_X, V2.0
21-4
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
IIC-Bus Module
21.2
Register Description
In the following, the registers of the IIC-Bus Module are described in detail.
IIC_CON
Control Register
XSFR (E602H/--)
11
10
15
14
13
12
-
-
-
-
CI
STP IGE TRX INT
ACK
BUM
DIS
-
-
-
-
rw
rwh
rwh
Type
9
8
7
rw
rwh
6
Reset Value: 0000H
rw
5
4
3
rwh
2
1
MOD
0
RSC M10
rw
rwh
rw
Field
Bits
CI
[11:10] rw
Transmit Buffer Length Control
00
1 byte (RTB0)
01
2 bytes (RTB1 … RTB0)
10
3 bytes (RTB2 … RTB0)
11
4 bytes (RTB3 … RTB0)
STP
9
Master Stop Control
0
No action
1
Setting bit STP generates a stop condition
after the next transmission. Bit BUM is cleared.
rwh
Description
Note: STP is automatically cleared by a stop
condition.
IGE
8
rw
Ignore End-of-Transmission (IRQE) Interrupt
0
The IIC is stopped at IRQE interrupt
1
The IIC ignores the IRQE interrupt
TRX
7
rwh
Transmit Select
0
No data is transmitted to the IIC bus
1
Data is transmitted to the IIC bus
Note: TRX is set automatically when writing to the
transmit buffer. TRX is automatically cleared
after the last byte as a slave transmitter.
INT
User’s Manual
IIC_X, V2.0
6
rw
Interrupt Flag Clear Control
0
Interrupt flag IRQD is cleared
by a read/write access to RTB0 … 3
1
Interrupt flag IRQD is not cleared
by a read/write access to RTB0 … 3
21-5
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
IIC-Bus Module
Field
Bits
Type
Description
ACKDIS
5
rwh
Acknowledge Pulse Disable
0
An acknowledge pulse is generated for each
received byte
1
No acknowledge pulse is generated
Note: ACKDIS is automatically cleared by a stop
condition.
BUM
4
rwh
Busy Master
0
Clearing bit BUM immediately generates a
stop condition
1
Setting bit BUM generates a start condition in
(multi-) Master mode
Note: Setting bit BUM while the bus is busy (BB = 1)
generates an arbitration lost situation.
In this case, BUM is cleared and bit AL is set.
BUM cannot be set in slave mode.
MOD
[3:2]
rw
Basic Operating Mode
00
IIC module is disabled and initialized (InitMode). Transmissions in progress will be
aborted.
01
Slave mode
10
Single-Master mode
11
Multi-Master mode
RSC
1
rwh
Repeated Start Condition Trigger
0
No operation
1
Generate a repeated start condition in (multi-)
master mode. RSC cannot be set in slave
mode.
Note: RSC is cleared automatically after
repeated start condition has been sent.
M10
User’s Manual
IIC_X, V2.0
0
rw
the
Slave Address Width Selection
0
7-bit slave address, using ICA[7:1]
1
10-bit slave address, using ICA[9:0]
21-6
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
IIC-Bus Module
IIC_ST
Status Register
XSFR (E604H/--)
15
14
13
12
11
10
9
-
-
-
-
-
CO
-
-
-
-
-
rh
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
IRQ IRQ IRQ
E
P
D
BB LRB SLA
AL ADR
rwh
rh
rwh
rwh
rwh
rh
rh
rh
Field
Bits
Type
Description
CO
[10:8]
rh
Transmit Byte Counter
Displays the number of correctly transferred bytes.
See Section 21.3.4 for details.
000 0 bytes
001 1 byte
010 2 bytes
011 3 bytes
100 4 bytes
1xx Reserved
IRQE
7
rwh
End-of-Data-Transmission Interrupt Req. Flag
0
No interrupt request pending
1
An End-Of-Data-Transmission interrupt
request is pending
See Section 21.4 for details.
IRQP
6
rwh
Protocol Event Interrupt Request Flag
0
No interrupt request pending
1
A Protocol Event interrupt request is pending
See Section 21.4 for details.
IRQD
5
rwh
Data Transfer Event Interrupt Request Flag
0
No interrupt request pending
1
A Data Transfer Event interrupt request is
pending
See Section 21.4 for details.
BB
4
rh
Bus Busy Flag
0
The IIC-Bus is idle
1
The IIC-Bus is busy
Note: Bit BB is always 0 while the IIC module is
disabled.
User’s Manual
IIC_X, V2.0
21-7
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
IIC-Bus Module
Field
Bits
Type
Description
LRB
3
rh
Last Received Bit
Bit LRB represents the last bit (i.e. the acknowledge
bit) of the last transferred byte. It is automatically
cleared by a read/write access to the buffer
RTB0 … 3.
Note: If LRB is high (no acknowledge) in slave mode,
bit TRX is set automatically to select slave
transmit mode.
SLA
2
rh
Slave Select Flag
0
The IIC-Bus Module is not addressed in Slave
mode, or the module is in Master mode.
1
The IIC-Bus Module has been addressed as a
slave (own slave address or general address,
00H, was received).
AL
1
rwh
Arbitration Lost Flag
Bit AL is set when the IIC-Bus Module has tried to
become master on the bus but has lost arbitration.
Operation is continued until the 9th clock pulse.
If multi-master mode is selected, the IIC module
temporarily switches to Slave mode after a lost
arbitration. Bit IRQP is set along with bit AL.
AL must be cleared via software.
ADR
0
rh
Address Phase Flag
Bit ADR is set after a start condition in Slave mode
until the complete address has been received (1 byte
in 7-bit address mode, 2 bytes in 10-bit address
mode).
User’s Manual
IIC_X, V2.0
21-8
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
IIC-Bus Module
IIC_ADR
Address Control Register
15
14
13
XSFR (E606H/--)
12
11
10
BRP
MOD
PREDIV
-
-
-
rw
rw
-
-
-
9
8
7
6
Reset Value: 0000H
5
4
3
2
1
0
ICA
rw
rw
rw
rw
Field
Bits
Type
Description
BRPMOD
15
rw
Baudrate Generator Mode Control
0
Mode 0: Reciprocal Divider
1
Mode 1: Fractional Divider
PREDIV
[14:13] rw
Pre-Divider for Baudrate Generation
00
Pre-divider is disabled
01
Pre-divider factor is 8
10
Pre-divider factor is 64
11
Reserved, do not use
ICA
[9:0]
Own Slave Address
Specifies the slave address of the IIC-Bus module
7-bit address mode (CON.M10 = 0):
address stored in ICA[7:1]
(ICA[9:8] and ICA[0] are read-only, read as 0)
10-bit address mode (CON.M10 = 1):
address stored in ICA[9:0]
User’s Manual
IIC_X, V2.0
rw
21-9
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
IIC-Bus Module
IIC_CFG
Configuration Control Register XSFR (E600H/--)
15
14
13
12
11
10
9
8
7
BRP
-
rw
-
6
Reset Value: 0000H
5
4
SCL SCL SCL
EN2 EN1 EN0
rw
rw
rw
3
-
2
1
0
SDA SDA SDA
EN2 EN1 EN0
rw
rw
rw
Field
Bits
Type
Description
BRP
[15:8]
rw
Baudrate Prescaler Value
Determines the baudrate for the IIC-Bus module
together with bit ADR.BRPMOD and bitfield
ADR.PREDIV
SCLENx
(x = 2 … 0)
6, 5, 4
rw
Enable Bit for SCLx Clock Line
These bits determine to which pins the IIC clock line
is connected.
0
SCLx pin is disconnected
1
SCLx pin is connected with IIC clock line
SDAENx
(x = 2 … 0)
2, 1, 0
rw
Enable Bit for SDAx Data Line
These bits determine to which pins the IIC data line
is connected.
0
SDAx pin is disconnected
1
SDAx pin is connected with IIC data line
User’s Manual
IIC_X, V2.0
21-10
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
IIC-Bus Module
IIC_RTBH
Receive/Transmit Buffer High
31
30
29
28
27
26
14
13
25
24
23
22
Reset Value: 0000H
21
20
19
RTB3
RTB2
rwh
rwh
IIC_RTBL
Receive/Transmit Buffer Low
15
XSFR (E60AH/--)
12
11
10
XSFR (E608H/--)
9
8
7
6
18
17
16
Reset Value: 0000H
5
4
3
RTB1
RTB0
rwh
rwh
2
1
0
Field
Bits
Type
Description
RTBx
(x = 3 … 0)
[31:24],
[23:16],
[15:8],
[7:0]
rwh
Receive/Transmit Buffer Bytes
The buffers contain the data to be sent or which have
been received. The buffer size can be selected via
bitfield CI, from 1 up to 4 bytes. The contents of RTB0
are sent/received first.
Note: If bit INT is set to zero and all bytes (specified in CI) of RTB0 … 3 are read/written
(dependent on bit TRX), IRQD will be cleared by hardware after completion of this
access (this supports PEC operation).
User’s Manual
IIC_X, V2.0
21-11
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
IIC-Bus Module
21.3
IIC-Bus Module Operation
The following sections describe the operation of the IIC-Bus Module in the three different
modes. In addition, detailed information on the Receive/Transmit Buffer as well as the
Baudrate Generator is provided.
21.3.1
Operation in Single-Master Mode
In Single-Master Mode, the IIC-Bus Module of the XC167 is the only master controlling
the external IIC-Bus, thus, the master can always assume that the bus is free to use.
Under normal conditions, there is no possibility for this master to loose arbitration.
Software initializes the IIC-Bus Module according to the master operation. There is no
need to specify an own slave address in register ADR, as the master can never be
addressed by another station.
To start a transfer, the master first writes the address of the slave to be contacted (or the
general call address to access all stations) into the receive/transmit buffer. In 7-bit
address mode, the address is written to bitfield RTB0, bits [7:1]. In 10-bit address mode,
the address is written to bitfields RTB0 and RTB1. Bit 0 of RTB0 is the read/write bit R/W,
which informs the slave whether the master wants to read from or write to the slave.
Then the master sets bit BUM in register CON. This generates a start condition on the
bus, the busy bit BB is set, and the transmission of the buffer contents begins.
To start a new transfer or to change the transfer direction, the master can generate a
repeated start condition. This eliminates the need to first stop bus transactions, and then
start again. The repeated start is performed by setting bit RSC in register CON. The busy
bit BB remains set. Bit RSC is cleared automatically after the repeated start condition
has been generated.
When the master is finished with the current bus transaction, it generates a stop
condition on the bus by clearing bit BUM.
21.3.2
Operation in Multimaster Mode
In Multi-Master Mode, the XC167 is not the only master on the bus and must share IICBus usage with other masters. This requires bus arbitration, as only one master may
control the bus at a given time.
Thus, when a master tries to take control of the IIC-Bus, it might be that the bus is already
in use or that another master is trying to claim the bus at the same time. To detect such
situations, each master monitors the bus activity by comparing the level which it wants
to output onto the SDA line with the level it reads from the external SDA line. If it finds
the case that it wants to output a high level (inactively driven by the master, but usually
held through external pull-up devices), but the actual level on the SDA line is a low level,
then it recognizes this case as an ‘arbitration lost’ condition, and it needs to backoff.
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IIC-Bus Module
It is not only necessary for the loosing master to release the bus in order to allow the
other master to control the bus, but it also needs to receive the message from the other
master, as it might be addressed as a slave.
When the XC167 wants to use the IIC-Bus, it prepares to start a transfer as in SingleMaster Mode. The next recommended step is to poll bit BB to check whether the bus is
busy. If BB = 0, then the start condition can be generated by setting bit BUM. If the bus
is still free after that, operation continues as in Single-Master Mode. If the bus is already
in use, indicated by BB = 1, the master can not take control of the bus and needs to act
as a slave (acting as a slave is automatically done in hardware); bit BUM should not be
set in this case. If bit BUM is set although the bus is already in use, the Arbitration Lost
flag AL is set.
However, if testing bit BB showed that the bus is free, and software sets the BUM bit, but
at the same time another master tries to get onto the bus, the bus arbitration needs to
take place. This is performed such that the master which first detects a mismatch
between its intended output level and the actual level on the SDA line looses the
arbitration. The Arbitration Lost flag AL is set in this case, the Transmit Selection bit TRX
is cleared to 0 (= reception), and the master automatically switches to slave mode to
receive the address information. At the end of the address phase, hardware
automatically compares the received address with the own station address stored in
register ADR. If the two addresses match or if the general call address (00H) has been
received, the Slave Select flag SLA in register ST is set to indicate that the device has
been contacted. Operation is then continued as described in Slave Mode.
Together with bit AL, the Protocol Event interrupt flag IRQP is set, and the respective
interrupt request line is activated.
Note that a master which has lost arbitration has written its transmit message to the
receive/transmit buffer before it has tried to take control of the IIC-Bus. However, after it
has lost arbitration, it has switched to Slave Mode, and was therefore receiving the
message sent over the bus. This message is then stored in the receive/transmit buffer,
overwriting the previous transmit message.
Due to the fact that a master must also act as a slave in a multi-master system, the actual
implicit default operating mode in Multi-Master Mode is Slave Mode.
21.3.3
Operation in Slave Mode
When the XC167 is intended to purely operate as a slave on the IIC-Bus, Slave Mode
needs to be selected via bitfield MOD in register CON.
The IIC-Bus Module is selected by another master when it receives either its own device
address or the general call address during the address phase of a transmission (the
byte(s) following a start or repeated start condition). If this is the case, bit SLA in register
ST is set, the Protocol Event interrupt flag IRQP is set, and the respective interrupt
request line is activated.
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IIC-Bus Module
If the device has not been selected, it remains idle in Slave Mode.
If the device has been selected, the read/write bit R/W, which has been received
together with the address information, needs to be checked by software to determine the
further actions. If this bit is 0, the slave remains in receive mode, and can read the
incoming message from the buffer RTB0 … 3.
If bit R/W = 1, the master wants to read from the slave device. For this, the slave needs
to prepare the data to be transferred to the master. The data is written to the buffer
RTB0 … 3. Writing to the buffer automatically sets the transfer mode bit TRX to one
(= transmission).
In both cases, operation can only continue when all interrupt flags, IRQD, IRQE, and
IRQP, are cleared. Otherwise, the device holds the SCL clock line low to prevent further
transactions on the IIC-Bus. In this way, a slave is able to suspend bus activities until it
is ready to proceed.
When a stop condition or a repeated start condition is detected, bit SLA is cleared (it will
be set again if the slave is contacted again at the end of the address phase of the new
transaction).
21.3.4
Transmit/Receive Buffer
The IIC-Bus Module has a transmit/receive buffer which can be set to a depth of one to
four bytes. Access to this buffer is performed via the two registers RTBL and RTBH, each
of these represents two bytes of the buffer. The depth of the buffer is specified via bitfield
CI in register CON (1, 2, 3 or 4 bytes).
For a transmission, the bytes to be transferred are written to the respective buffer bytes,
and then transmission is initiated. The data interrupt IRQD is activated when all bytes of
the specified buffer have been transmitted.
In receive mode, the data interrupt IRQD is activated when all bytes of the specified
buffer have been filled with incoming data.
A byte counter, CO in the status register ST, counts the bytes which have been
transferred from the buffer to the IIC-Bus or vice versa. The contents of this counter is
especially of interest in Slave-Transmitter Mode, if the bus transactions have been
terminated by an external master before all bytes of the buffer have been transmitted.
Software can determine the number of correctly transmitted bytes by reading bitfield CO.
In receive mode, bitfield CO needs to be read in case the transactions have been
terminated (which activates the Protocol Event interrupt request, IRQP), as it represents
the number of correctly received bytes.
Bitfield CO is always cleared to 0 by the correct number (defined by bitfield CI) of
read/write accesses to the buffer registers.
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Peripheral Units (Vol. 2 of 2)
IIC-Bus Module
21.3.5
Baud Rate Generation
In order to give the user high flexibility in selection of CPU frequency and IIC-Bus
baudrate without constraints to baudrate accuracy, a flexible baudrate generator has
been implemented. It uses two different modes and an additional pre-divider. Low
baudrates may be configured at high precision in mode 0, which is compatible with
previous implementations of the IIC-Bus module. High baudrates may be configured
precisely in mode 1.
Prescale Value BRP
MUX
fIIC
Baudrate Generator
Circuitry
8:1
BIIC
64:1
BRPMOD
PREDIV
MCA05466
Figure 21-4 IIC-Bus Module Baudrate Generator
Reciprocal Divider Mode (BRPMOD = 0)
The resulting baudrate is:
f
IIC
B0 IIC = -----------------------------------------------------------------------------<PREDIV> × 3
4×2
× ( <BRP> + 1 )
Table 21-1
f
IIC
BRP = ----------------------------------------------------------–1
<PREDIV> × 3
4×2
× B0 IIC
(21.1)
IIC-Bus Baudrate Examples for Mode 0
BRPMOD = 0
BRP @ 100 kbit/s
BRP @ 400 kbit/s
fIIC [MHz]
PREDIV = 00B
PREDIV = 01B
PREDIV = 00B
PREDIV = 01B
40
63H
0BH
18H
02H
24
3BH
06H
0EH
–
20
31H
05H
0BH
–
16
27H
04H
09H
–
10
18H
02H
05H
–
8
13H
01H
04H
–
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IIC-Bus Module
Fractional Divider Mode (BRPMOD = 1)
The resulting baudrate is:
<PREDIV> × 3
f IIC × <BRP>
B1 IIC = -----------------------------------------------<PREDIV> × 3
1024 × 2
Table 21-2
× B1 IIC
1024 × 2
BRP = --------------------------------------------------------------------
(21.2)
f IIC
IIC-Bus Baudrate Examples for Mode 1
BRPMOD = 1
BRP @ 100 kbit/s
BRP @ 400 kbit/s
fIIC [MHz]
PREDIV = 00B
PREDIV = 01B
PREDIV = 00B
PREDIV = 01B
40
03H
14H
0AH
51H
24
04H
22H
11H
88H
20
05H
28H
14H
A4H
16
06H
33H
1AH
CDH
10
0AH
51H
29H
–
8
0DH
66H
33H
–
21.3.6
Notes for Programming the IIC-Bus Module
It is strictly recommended not to write to the IIC-Bus Module registers while the module
is busy with transfers, except when interrupt requests have been generated.
In Master Mode (and if operating as active master in Multi-Master Mode), the module is
busy as long as the BUM bit is set. In Slave Mode (and if operating as a slave in MultiMaster Mode), the module is busy from a start condition (or repeated start condition) until
a stop condition is detected. This is indicated by the busy bit BB.
Access to the module’s registers should only be performed after appropriate interrupt
requests are generated by the module, indicating a pause in or the termination of
ongoing transfers. During initialization mode (MOD = 00), all registers can be accessed
freely.
A change of the transfer direction is only allowed after a protocol interrupt.
When operating as a master, software can examine the level of the acknowledge bit
returned by the slave via bit LRB (Last Received Bit) in the status register ST. Note that
this bit represents the acknowledge bit of the last byte which was transferred before an
interrupt request was generated.
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IIC-Bus Module
21.4
Interrupt Request Operation
The IIC-Bus Module can generate three different interrupt requests, each with its own
request flag. However, due to the nature of these requests, it is sufficient to use only two
interrupt nodes to process the requests. As the data interrupt request IRQD and the endof-data-transmission interrupt request IRQE both deal with the end of a transfer of a
block of data, their are combined onto one interrupt request line and node, IIC_DIRQ, as
shown in Figure 21-5.
IRQD
Interrupt
Request
Circuitry
IRQE
_
>1
IRQP
IIC_DIRQ
IIC_PEIRQ
MCA05467
Figure 21-5 IIC-Bus Module Interrupt Wiring
The request flags for the three possible interrupt sources are located in the status
register ST. The conditions for the activation of the requests and for handling of the
request flags are detailed below.
As long as one or more of the interrupt request flags are set, and the IIC-Bus Module
operates in Master Mode or has been selected as a slave, the clock line SCL is held at
low level to prevent further transactions on the bus. The clock line is released again when
all three flags are set to 0. Then, further transactions can take place on the IIC bus.
This operation can also be used to control IIC-Bus transactions by setting or clearing the
request flags by software.
Data Transfer Event Interrupt, IRQD
This request is activated and the flag is set when the specified buffer is either empty (in
transmit mode) or full (in receive mode). For example, when the buffer size is set to
3 bytes (via CI) and all three buffer locations, RTB0, RTB1, and RTB2, have been written
with transmit values, then the request will be activated when the last byte in RTB2 has
been sent via the IIC-Bus.
IRQD is also activated in Slave-Transmitter Mode, when a transfer was terminated by
the current master before all data in the slave’s transmit buffer has been sent. This is in
addition to the activation of interrupt request IRQE.
If the automatic interrupt flag clear operation is selected (bit CON.INT = 0), then flag
IRQD is automatically cleared by hardware upon a complete read or write access to the
buffer(s) RTB0 … 3. If CON.INT = 1, then flag IRQD must be cleared by software.
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IIC-Bus Module
End-of-Data-Transmission Interrupt, IRQE
This request is activated and the flag is set when the current data transfer is terminated
either by a repeated start, by a stop, or by a missing acknowledge.
In the case of Slave-Transmitter Mode, additionally the Data Transfer interrupt request
IRQD will be activated.
Flag IRQE must be cleared by software.
Protocol Event Interrupt, IRQP
This request is activated and the flag is set in Multi-Master mode when the module has
lost arbitration. Additionally, the arbitration lost flag AL is set.
In Multi-Master and in Slave Mode, this request is activated when either the general call
address or the device’s own address has been received.
Flag IRQP must be cleared by software.
Interrupt Nodes
The three interrupt request lines are connected to two interrupt nodes (see Figure 21-5):
IIC_DIC
IIC Data Interrupt Ctrl. Reg.
15
14
13
12
11
ESFR (F186H/C3H)
10
9
-
-
-
-
GPX
-
-
IIC_PEIC
IIC Protocol Intr. Ctrl. Reg.
15
14
13
12
11
-
-
-
-
rw
10
9
8
GPX
-
7
6
5
ICD ADC
IR
IE
rwh
4
3
-
-
rw
7
ICP ADE
IR
IE
rwh
rw
1
0
GLVL
rw
rw
rw
6
2
ILVL
ESFR (F18EH/C7H)
-
8
Reset Value: - - 00H
Reset Value: - - 00H
5
4
3
2
1
0
ILVL
GLVL
rw
rw
Note: Please refer to the general Interrupt Control Register description for an
explanation of the control fields.
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IIC-Bus Module
21.5
Port Connection and Configuration
The IIC-Bus Module can provide up to three SCL/SDA signal pairs, which can be
connected to different pins of the XC167. The individual enable control bits for these
options are located in the configuration register CFG. Figure 21-6 illustrates this feature.
Port
Logic
Port
Logic
IIC
Bus
Module
Port
Logic
SDA0
SDA1
SDA2
Enable
Port
Logic
Port
Logic
Port
Logic
SCL0
SCL1
SCL2
MCA05468
Figure 21-6 IIC-Bus Module Port Pin Connection Options
Pin Configuration
Due to the Wired-AND configuration of an IIC-Bus system, the port drivers for the SCL
and SDA signal lines need to be operating in open-drain mode (no upper transistor). The
high level on these lines are held via external pull-up devices (approx. 10 kΩ for
operation at 100 kbit/s, 2 kΩ for operation at 400 kbit/s).
All pins of the XC167 that are to be used for IIC-Bus communication provide open-drain
drivers, and must be programmed to output operation, and their alternate function must
be enabled (by setting the respective port output latch to 1), before any communication
can be established.
The input lines from the SCL/SDA pins are always connected to the IIC-Bus Module, and
do not require special programming. The inputs feature digital input filters in order to
improve the rejection of noise from the external bus lines.
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IIC-Bus Module
Table 21-3 shows the required register setting to configure the IO lines of the IIC-Bus
Module for master and slave mode operation. Please note that all lines must be
configured for open-drain output operation. This is required, e.g., to enable a slave
module to actively hold the SCL line low as long as it cannot accept further bus
transactions. The IIC-Bus Module deactivates output lines by setting the line to high
level, which results in a passive level at the open-drain output.
Table 21-3
Port Lines
IIC IO Selection and Setup
Alternate Select
Register
Direction Control
Register
Open Drain
Control Register
P9.0 / SDA0
ALTSEL0P9.P0 = 1 and
ALTSEL1P9.P0 = X
DP9.P0 = 1
ODP9.P0 = 1
P9.1 / SCL0
ALTSEL0P9.P1 = 1 and
ALTSEL1P9.P1 = 0
DP9.P1 = 1
ODP9.P1 = 1
P9.2 / SDA1
ALTSEL0P9.P2 = 1 and
ALTSEL1P9.P2 = 0
DP9.P2 = 1
ODP9.P2 = 1
P9.3 / SCL1
ALTSEL0P9.P3 = 1 and
ALTSEL1P9.P3 = 0
DP9.P3 = 1
ODP9.P3 = 1
P9.4 / SDA2
ALTSEL0P9.P4 = 1 and
ALTSEL1P9.P4 = X
DP9.P4 = 1
ODP9.P4 = 1
P9.5 / SCL2
ALTSEL0P9.P5 = 1 and
ALTSEL1P9.P5 = X
DP9.P5 = 1
ODP9.P5 = 1
Bus A:
Bus B:
Bus C:
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IIC-Bus Module
21.6
Interfaces of the IIC-Bus Module
In the XC167, the IIC-Bus Module is connected to IO ports and other internal modules
according to Figure 21-7.
The input/output lines of the module are connected to pins of Ports P9. The 2 interrupt
request lines are connected to the Interrupt Control Block. Please note that two of the
thee possible interrupt sources in the IIC-Bus Module or ORed together onto the request
line IIC_DIRQ (see Section 21.4).
Clock control and emulation control of the IIC-Bus Module is handled by the System
Control Unit, SCU.
System
Control
Unit (SCU)
Interrupt
Control
Block
fIIC
SDA_OUT [2:0]
P9.0/SDA0
IICDIS
SCL_OUT [2:0]
P9.1/SCL0
IIC_DIRQ
IIC_PEIRQ
IIC-Bus
Module
SDA_IN [2:0]
SCL_IN [2:0]
Port P9
Control
P9.2/SDA1
P9.3/SCL1
P9.4/SDA2
P9.5/SCL2
MCA05469
Figure 21-7 IIC-Bus Module IO Interface
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IIC-Bus Module
21.7
IIC-Bus Overview
Figure 21-8 gives a brief overview of the major definitions of the IIC-Bus operation.
Normal Data Transfer
SCL
SDA
Data Stable
Start and Stop Conditions
SCL
SDA
Start
Stop
Address and Acknowledge
SCL
1st
2nd
SDA
Transmitter
A6
A5
8th
A4 A0
9th
R/W
SDA
Receiver
ACK Bit
Start
Clock Synchronization
SCL Master A
SCL Master B
External SCL
Master Arbitration
SCL
Master A & B
SDA
Master A
A6
A5
A4
Master B lost arbitration
A3
A2
MCT05470
Figure 21-8 IIC-Bus Characteristics
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TwinCAN Module
22
TwinCAN Module
22.1
Kernel Description
22.1.1
Overview
The TwinCAN module contains two Full-CAN nodes operating independently or
exchanging data and remote frames via a gateway function. Transmission and reception
of CAN frames is handled in accordance to CAN specification V2.0 part B (active). Each
of the two Full-CAN nodes can receive and transmit standard frames with 11-bit
identifiers as well as extended frames with 29-bit identifiers.
Both CAN nodes share the TwinCAN module’s resources in order to optimize the CAN
bus traffic handling and to minimize the CPU load. The flexible combination of Full-CAN
functionality and FIFO architecture reduces the efforts to fulfill the real-time requirements
of complex embedded control applications. Improved CAN bus monitoring functionality
as well as the increased number of message objects permit precise and comfortable
CAN bus traffic handling.
Depending on the application, each of the 32 message objects can be individually
assigned to one of the two CAN nodes. Gateway functionality allows automatic data
exchange between two separate CAN bus systems, which reduces CPU load and
improves the real time behavior of the entire system.
The bit timings for both CAN nodes are derived from the peripheral clock (fCAN) and are
programmable up to a data rate of 1 MBaud. A pair of receive and transmit pins connect
each CAN node to a bus transceiver.
Features
•
•
•
•
•
•
•
CAN functionality according to CAN specification V2.0 B active.
Dedicated control registers are provided for each CAN node.
A data transfer rate up to 1 MBaud is supported.
Flexible and powerful message transfer control and error handling capabilities are
implemented.
Full-CAN functionality: 32 message objects can be individually
– assigned to one of the two CAN nodes,
– configured as transmit or receive object,
– participate in a 2, 4, 8, 16 or 32 message buffer with FIFO algorithm,
– setup to handle frames with 11-bit or 29-bit identifiers,
– provided with programmable acceptance mask register for filtering,
– monitored via a frame counter,
– configured to Remote Monitoring Mode.
Up to eight individually programmable interrupt nodes can be used.
CAN Analyzer Mode for bus monitoring is implemented.
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TwinCAN Module
TwinCAN Module Kernel
Clock
Control
fCAN
CAN
Node A
CAN
Node B
TxDCA
RxDCA
Address
Decoder
Port
Control
CAN
Message Object Buffer
Interrupt
Control
TxDCB
RxDCB
TwinCAN Control
MCB05471
Figure 22-1 General Block Diagram of the TwinCAN Module
The CAN kernel (Figure 22-2) is split into
•
•
A global control shell, subdivided into the initialization logic, the global control and
status logic and the interrupt request compressor.
– The initialization logic sets up all submodules after power-on or reset. After
finishing the initialization of the node control logic and its associated message
objects, the respective CAN node is synchronized with the connected CAN bus.
– The global control and status logic informs the CPU about pending object transmit
and receive interrupts and about the recent transfer history.
– The interrupt request compressor condenses the interrupt requests from
72 sources, belonging to CAN node A and B, to 8 interrupt nodes.
A message buffer unit, containing the message buffers, the FIFO buffer
management, the gateway control logic and a message-based interrupt request
generation unit.
– The message buffer unit stores up to 32 message objects of 8 bytes maximum
data length. Each object has an identifier and its own set of control and status bits.
After initialization, the message buffer unit can handle reception and transmission
of data without CPU supervision.
– The FIFO buffer management stores the incoming and outgoing messages in a
circular buffer and determines the next message to be processed by the CAN
controller.
– The gateway control logic transfers a message from CAN node A to CAN node B
or vice versa.
– The interrupt request generation unit indicates message-specifically the reception
or transmission of an object.
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TwinCAN Module
•
Two separate CAN nodes, subdivided into a bit stream processor, a bit timing control
unit, an error handling logic, an interrupt request generation unit and a node control
logic:
– The bit stream processor performs data, remote, error and overload frames
according to the ISO-DIS 11898 standard. The serial data flow between the CAN
bus line, the input/output shift register and the CRC register is controlled as well
as the parallel data flow between the I/O shift register and the message buffer unit.
– The bit timing control unit defines the sampling point in respect to propagation time
delays and phase shift errors and performs the resynchronization.
– The error handling control logic manages the receive and the transmit error
counter. According the contents in both timers, the CAN controller is set into an
error-active, error-passive or bus-off state.
– The interrupt request generation unit signals globally the successful end of a
message transmit or receive operation, all kinds of transfer problems like bit
stuffing errors, format, acknowledge, CRC or bit state errors, every change of the
CAN bus warning level or of the bus-off state.
– The node control logic enables and disables the node specific interrupt sources,
enters the CAN analyzer mode and administrates a global frame counter.
To CAN Bus A
To CAN Bus B
Bit Stream
Processor
Bit Stream
Processor
Node A Bit Timing Control
Control
Logic
Error Handling
Interrupt Request
Generation
Bit Timing Control Node B
Control
Logic
Error Handling
Interrupt Request
Generation
Message Object Buffers
Interrupt Request
Generation
FIFO Control
Gateway Control
TwinCAN Control
Interrupt Request
Compressor
Global Status and
Control Logic
Initialization Logic
MCB05472
Figure 22-2 Detailed Block Diagram of the TwinCAN Kernel
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TwinCAN Module
22.1.2
TwinCAN Control Shell
22.1.2.1 Initialization Processing
After an external hardware reset or while it is bus-off, the respective CAN controller node
is logically disconnected from the associated CAN bus and does not participate in any
message transfer. This is indicated by the ACR/BCR control register bit INIT = ‘1’, which
is automatically set in case of a reset or while the CAN node is bus-off. Furthermore, the
CAN node will be disconnected by setting bit INIT to ‘1’ via software. While INIT is active,
all message transfers between the affected CAN node controller and its associated CAN
bus are stopped and the bus output pin (TXDC) is held on ‘1’ level (recessive state).
After an external hardware reset, all control and message object registers are reset to
their associated reset values. During the bus-off-state or after a write access to register
ACR/BCR with INIT = ‘1’, all respective control and message object registers hold their
current values (except the error counters).
Resetting bit INIT to ‘0’ without being in the bus-off-state starts the synchronization
sequence (= connection to the CAN bus), which has to monitor at least one bus-idle
event (11 consecutive ‘recessive’ bits) on the associated CAN bus before the node is
allowed to take part in CAN traffic again.
During the bus-off recovery sequence:
•
•
•
The receive and the transmit error counter within the error handling logic are reset.
128 bus-idle events (11 consecutive ‘recessive’ bits) have to be detected, before the
synchronization sequence can be initiated. The monitoring of the bus idle events is
immediately started by hardware after entering the bus-off state. The number of
already detected bus-idle events is counted and indicated by the receive error
counter.
The reconnect procedure tests bit INIT by hardware after 128 bus-idle events. If INIT
is still set, the affected CAN node controller waits until INIT is cleared and at least one
bus-idle event is detected on the CAN bus, before the node takes part in CAN traffic
again. If INIT has been already cleared, the message transfer between the affected
CAN node controller and its associated CAN bus is immediately enabled.
User’s Manual
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TwinCAN Module
22.1.2.2 Interrupt Request Compressor
The CAN module is equipped with 32 × 2 message object specific interrupt request
sources and 2 × 4 node control interrupt request sources. A request compressor
condenses these 72 sources to 8 CAN interrupt nodes reporting the interrupt requests
of the CAN module. Each request source is provided with an interrupt node pointer,
selecting the interrupt node to start the associated service routine in order to increase
flexibility in interrupt processing. Each of the 8 CAN interrupt nodes can trigger an
independent interrupt routine with its own interrupt vector and its own priority.
Request
Compressor
CAN Interrupt
Node 0
_
>1
Interrupt
Request Source k
To Interrupt
Controller
Interrupt Node Pointer
of Request Source k
CAN Interrupt
Node 7
_
>1
Interrupt
Request Source n
To Interrupt
Controller
Interrupt Node Pointer
of Request Source n
MCA05473
Figure 22-3 Interrupt Node Pointer and Interrupt Request Compressor
Note: All interrupts are event-oriented. The event sets the corresponding indication flag
and can generate an interrupt to the system. An interrupt event occurring while its
corresponding indication flag is still set, can generate a new interrupt.
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22.1.2.3 Global Control and Status Logic
The receive interrupt pending register RXIPND contains 32 individual flags indicating a
pending receive interrupt for the associated message objects. Flag RXIPNDn is set by
hardware if the corresponding message object has correctly received a data or remote
frame and the correlated interrupt request generation has been enabled by RXIEn = ‘10’.
RXIPNDn can be cleared by software by resetting bit INTPNDn in the corresponding
message object control register MSGCTRn.
The transmit interrupt pending register TXIPND has a similar functionality as the
RXIPND register and provides identical information about pending transmit interrupts.
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22.1.3
CAN Node Control Logic
22.1.3.1 Overview
Each node is equipped with an individual node control logic configuring the global
behavior and providing status information.
The configuration mode is activated when the ACR/BCR register bit CCE is set to ‘1’.
This mode allows modifying the CAN bit timing parameters and the error counter
registers.
The CAN analyzer mode is activated when bit CALM in control register ACR/BCR is set
to ‘1’. In this operation mode, data and remote frames are monitored without an active
participation in any CAN transfer (CAN transmit pin is held on recessive level). Incoming
remote frames are stored in a corresponding transmit message object, while arriving
data frames are saved in a matching receive message object.
In CAN analyzer mode, the entire configuration information of the received frame is
stored in the corresponding message object and can be evaluated by the CPU
concerning their identifier, XTD bit information and data length code. If the remote
monitoring mode is active by RMM = ‘1’, this information is also available for received
remote frames. Incoming frames are not acknowledged and no error frames are
generated. Neither remote frames are answered by the corresponding data frame nor
data frames can be transmitted by setting TXRQ, if CAN analyzer mode is enabled.
Receive interrupts are generated (if enabled) for all correctly received frames and the
respective remote pending RMTPNDn is set in case of received remote frames.
The node specific interrupt configuration is also defined by the node control logic via the
ACR/BCR register bits SIE, EIE and LECIE:
•
•
•
If control bit SIE is set to ‘1’, a status change interrupt occurs when the ASR/BSR
register has been updated (by each successfully completed message transfer).
If control bit EIE is set to ‘1’, an error interrupt is generated when a bus-off condition
has been recognized or the error warning level has been exceeded or underrun.
If control bit LECIE is set to ‘1’, a last error code interrupt is generated when an error
code is set in bitfield LEC in the status registers ASR or BSR.
The status register (ASR/BSR) provides an overview about the current state of the
respective TwinCAN node:
•
•
•
•
Flag TXOK is set when a message has been transmitted successfully and
acknowledged by at least one other CAN node,
flag RXOK indicates an error-free reception of a CAN bus message,
bitfield LEC indicates the last error occurred on the CAN bus. Stuff, form, and CRC
errors as well as bus arbitration errors (Bit0, Bit1) are reported,
bit EWRN is set when at least one of the error counters in the error handling logic has
reached the error warning limit (default value 96),
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•
bit BOFF is set when the transmit error counter exceeded the error limit of 255 and
the respective CAN node controller has been logically disconnected from the
associated CAN bus.
The CAN frame counter can be used to check the transfer sequence of message objects
or to obtain information about the time instant, a frame has been transmitted or received
from the associated CAN bus. CAN frame counting is performed by a 16-bit counter,
which is controlled by register AFCR/BFCR. Bitfield CFCMD defines the operation mode
and the trigger event incrementing the frame counter:
•
•
•
•
After correctly transmitted frames,
after correctly received frames,
after a foreign frame on the CAN bus (not transmitted/received by the CAN node
itself),
at beginning of a new bit time.
The captured frame counter value is copied to the CFCVAL field of the associated
MSGCTRn register at the end of the monitored frame transfer. Flag CFCOV is set on a
frame counter overflow condition (FFFFH to 0000H) and an interrupt request is generated
if bit CFCIE is set to ‘1’.
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22.1.3.2 Timing Control Unit
According to ISO-DIS 11898 standard, a CAN bit time is subdivided into different
segments (Figure 22-4). Each segment consists of multiples of a time quantum tq. The
magnitude of tq is adjusted by the bitfield BRP and by bit DIV8X, both controlling the
baud rate prescaler (see bit timing register ABTR/BBTR). The baud rate prescaler is
driven by the CAN module clock fCAN.
1 Bit Time
TSync
TSeg1
TProp
TSeg2
Tb1
Tb1
Sync.
Segment
1 Time Quantum (tq)
Sample Point
Transmit Point
MCT05474
Figure 22-4 CAN Bus Bit Timing Standard
The synchronization segment (TSync) allows a phase synchronization between
transmitter and receiver time base. The synchronization segment length is always 1 tq.
The propagation time segment (TProp) takes into account the physical propagation delay
in the transmitter output driver, on the CAN bus line and in the transceiver circuit. For a
working collision detect mechanism, TProp has to be two times the sum of all propagation
delay quantities rounded up to a multiple of tq. The phase buffer segments 1 and 2 (Tb1,
Tb2) before and after the signal sample point are used to compensate a mismatch
between transmitter and receiver clock phase detected in the synchronization segment.
The maximum number of time quanta allowed for resynchronization is defined by bitfield
SJW in bit timing register ABTR/BBTR. The propagation time segment and the phase
buffer segment 1 are combined to parameter TSeg1, which is defined by the value TSEG1
in the respective bit timing register ABTR/BBTR. A minimum of 3 time quanta is
requested by the ISO standard. Parameter TSeg2, which is defined by the value of TSEG2
in the bit timing register ABTR/BBTR, covers the phase buffer segment 2. A minimum of
2 time quanta is requested by the ISO standard. According ISO standard, a CAN bit time,
calculated as the sum of TSync, TSeg1 and TSeg2, must not fall below 8 time quanta.
Note: The access to bit timing register ABTR/BBTR is only enabled if bit CCE in control
register ACR/BCR is set to ‘1’.
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Calculation of the Bit Time
tq = (BRP + 1) / fCAN, if DIV8X = ‘0’
= (BRP + 1) / 8 × fCAN, if DIV8X = ‘1’
TSync = 1 tq
TSeg1 = (TSEG1 + 1) × tq (min. 3 tq)
TSeg2 = (TSEG2 + 1) × tq (min. 2 tq)
bit time = TSync + TSeg1 + TSeg2 (min. 8 tq)
To compensate phase shifts between clocks of different CAN controllers, the CAN
controller has to synchronize on any edge from the recessive to the dominant bus level.
If the hard synchronization is enabled (at the start of frame), the bit time is restarted at
the synchronization segment. Otherwise, the resynchronization jump width TSJW defines
the maximum number of time quanta a bit time may be shortened or lengthened by one
resynchronization. The value of SJW is programmed in the ABTR/BBTR registers.
TSJW = (SJW + 1) × tq
TSeg1 ≥ TSJW + Tprop
TSeg2 ≥ TSJW
The maximum relative tolerance for fCAN depends on the phase buffer segments and the
resynchronization jump width.
dfCAN ≤ min (Tb1, Tb2) / 2 × (13 × bit time - Tb2) AND
dfCAN ≤ TSJW / 20 × bit time
Calculation of the Baudrate
Baudrate = fCAN / ((BRP + 1) × (1 + TSeg1 + TSeg2))
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22.1.3.3 Bitstream Processor
Based on the objects in the message buffer, the bitstream processor generates the
remote and data frames to be transmitted via the CAN bus. It controls the CRC generator
and adds the checksum information to the new remote or data frame. After including the
start of frame bit SOF and the end of frame field EOF, the bitstream processor starts the
CAN bus arbitration procedure and continues with the frame transmission when the bus
was found in idle state. While the data transmission is running, the bitstream processor
monitors continuously the I/O line. If (outside the CAN bus arbitration phase or the
acknowledge slot) a mismatch is detected between the voltage level on the I/O line and
the logic state of the bit currently sent out by the transmit shift register, a last error
interrupt request is generated and the error code is indicated by bitfield LEC in status
register ASR/BSR.
An incoming frame is verified by checking the associated CRC field. When an error has
been detected, the last error interrupt request is generated and the associated error code
is presented in status register ASR/BSR. Furthermore, an error frame is generated and
transmitted on the CAN bus. After decomposing a faultless frame into identifier and data
portion, the received information is transferred to the message buffer executing remote
and data frame handling, interrupt generation and status processing.
22.1.3.4 Error Handling Logic
The error handling logic is responsible for the fault confinement of the CAN device. Its
two counters, the receive error counter and the transmit error counter (control registers
AECNT, BECNT), are incremented and decremented by commands from the bit stream
processor. If the bit stream processor itself detects an error while a transmit operation is
running, the transmit error counter is incremented by 8. An increment of 1 is used, when
the error condition was reported by an external CAN node via an error frame generation.
For error analysis, the transfer direction of the disturbed message and the node,
recognizing the transfer error, are indicated in the control registers AECNT, BECNT.
According to the values of the error counters, the CAN controller is set into the states
error-active, error-passive or bus-off.
The CAN controller is in error-active state, if both error counters are below the errorpassive limit of 128. It is in error-passive state, if at least one of the error counters equals
or exceeds 128.
The bus-off state is activated if the transmit error counter equals or exceeds the bus-off
limit of 256. This state is reported by flag BOFF in the ASR/BSR status register. The
device remains in this state, until the bus-off recovery sequence is finished. Additionally,
there is the bit EWRN in the ASR/BSR status register, which is set if at least one of the
error counters equals or exceeds the error warning limit defined by bitfield EWRNLVL in
the control registers AECNT, BECNT. Bit EWRN is reset if both error counters fall below
the error warning limit again.
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22.1.3.5 Node Interrupt Processing
Each CAN node is equipped with 4 interrupt sources supporting the
•
•
•
global transmit/receive logic,
CAN frame counter,
error reporting system.
SIE
TXOK
Global
CAN
Transmit
and
Receive
Logic
LECIE
TRINP
_
>1
RXOK
LECINP
LEC
EWRN
EINP
_
>1
BOFF
EIE
CAN
Frame
Counter
CFCINP
CFCOV
CFCIE
MCA05475
Figure 22-5 Node Specific Interrupt Control
If enabled by bit SIE = ‘1’ in the ACR/BCR register, the global transmit/receive logic
generates an interrupt request, if the node status register (ASR/BSR) is updated after
finishing a faultless transmission or reception of a message object. The associated
interrupt node pointer is defined by bitfield TRINP in control register AGINP/BGINP.
An error is reported by a last error code interrupt request, if activated by LECIE = ‘1’ in
the ACR/BCR register. The corresponding interrupt node pointer is defined by bitfield
LECINP in control register AGINP/BGINP.
The CAN frame counter creates an interrupt request upon an overflow, when the
AFCR/BFCR control register bit CFCIE is set to ‘1’. Bitfield CFCINP, located also in the
AGINP/BGINP control register, selects the corresponding interrupt node pointer.
The error logic monitors the number of CAN bus errors and sets or resets the error
warning bit EWRN according to the value in the error counters. If bit EIE in control
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register ACR/BCR is set to ‘1’, an interrupt request is generated on any modification of
bits EWRN and BOFF. The associated interrupt node pointer is defined by bitfield EINP
in control register AGINP/BGINP.
22.1.3.6 Message Interrupt Processing
Each message object is equipped with 2 interrupt request sources indicating the
successful end of a message transmission or reception.
Correct Transfer of
Message Object n
TXINP
TXIE
TXIPND
Transmit
_
>1
INTPND
Receive
RXINP
RXIE
RXIPND
MCA05476
Figure 22-6 Message Specific Interrupt Control
The message based transfer interrupt sources are enabled, if bit TXIE or RXIE in the
associated message control register MSGCTRn are set to ‘10’. The associated interrupt
node pointers are defined by bitfields RXINP and TXINP in message configuration
register MSGCFGn.
22.1.3.7 Interrupt Indication
The AIR/BIR register provides an INTID bitfield indicating the source of the pending
interrupt request with the highest internal priority (lowest message object number). The
type of the monitored interrupt requests, taken into account by bitfield INTID, can be
selected by registers AIMR0/AIMR4 and BIMR0/BIMR4 containing a mask bit for each
interrupt source. If no interrupt request is pending, all bits of AIR/BIR are cleared. The
interrupt requests INTPNDn have to be cleared by software.
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Interrupt Request Source
IMR4 Mask Register
IMC34
TXOK
Global
CAN
Transmit
and
Receive
Logic
IMC33
INTID Value
IMC32
_
>1
_
>1
RXOK
LEC
INTD = 1
EWRN
_
>1
BOFF
MCA05477
Figure 22-7 INTID Mask for Global Interrupt Request Sources
Registers AIMR0/4 and BIMR0/4 contain a mask bit for each interrupt source
(AIMR0/BIMR0 for message specific interrupt sources and AIMR4/BIMR4 for the node
specific interrupt sources). If a mask bit is reset, the corresponding interrupt source is not
taken into account for the generation of the INTID value.
AIMR0
Mask Register
IMCn
Message Control
Register for
Object n
AIR
Interrupt Pending
Register
INTID = n + 2
INTPNDn
INTID = n + 2
IMCn
BIR
Interrupt Pending
Register
BIMR0
Mask Register
MCA05478
Figure 22-8 INTID Mask for Message Interrupt Request Sources
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22.1.4
Message Handling Unit
A message object is the basic information unit exchanged between the CPU and the
CAN controller. 32 message objects are provided by the internal CAN memory. Each of
these objects has an identifier, its own set of control and status bits and a separate data
area. Each message object covers 32 bytes of internal memory subdivided into control
registers and data storage as illustrated in Figure 22-9.
Data
Module Offset + 300H + n*20H
Message Object n
+00H
Arbitration (Identifier)
+08H
Acceptance Mask
+0CH
Message Control
+10H
Message Configuration
+14H
FIFO/Gateway Control
+18H
MCA05479
Figure 22-9 Structure of a Message Object
In normal operation mode, each message object is associated with one CAN node. Only
in shared gateway mode, a message object can be accessed by both CAN nodes
(according to the corresponding bitfield NODE).
In order to be taken into account by the respective CAN node control logic, the message
object must be declared valid in its associated message control register (bit MSGVAL).
When a message object is initialized by the CPU, bitfield MSGVAL in message control
register MSGCTRn should be reset, inhibiting a read or write access of the CAN node
controller to the associated register and data buffer storage. Afterwards, the message
identifier and operation mode (transmit, receive) must be defined. If a successful
transmission and/or reception of a message object should be followed by the execution
of an interrupt service routine, the respective bitfields TXIE and RXIE have to be set and
the interrupt pending indicator (bitfield INTPND) should be reset.
If the automatic response of an incoming remote frame with matching identifier is not
requested, the respective transmission message object should be configured with
CPUUPD = ‘10’.
As soon as bitfield MSGVAL is set to ‘10’, the respective message object is operable and
taken into account by the associated CAN node controller.
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22.1.4.1 Arbitration and Acceptance Mask Register
The arbitration register MSGARn is used to filter the incoming messages and to provide
the outgoing messages with an identifier. The acceptance mask register MSGAMRn
may be used to disable some identifier bits of an incoming message for the acceptance
test.
The identifier of a received message is compared (bitwise XOR) to the identifiers of all
message objects stored in the internal CAN controller memory. The compare operation
starts at object 0 and takes into account all objects with
•
•
•
•
•
a valid message flag (MSGVAL = ‘10’),
a suitable NODE declaration (register MSGCFGn),
a cleared DIR control bit (receive message object) for data frame reception,
DIR = ‘1’ (transmit message object) for remote frame reception,
a matching identifier length declaration (XTD = ‘1’ marks extended 29-bit identifiers,
XTD = ‘0’ indicates standard 11 bit identifiers).
The result of the compare operation is bit-by-bit ANDED with the contents of the
acceptance mask register (Figure 22-10). If concordance is detected, the received
message is stored into the CAN controller’s message object. The compare operation is
finished after analyzing message object 31.
Note: Depending on the allocated identifiers and the corresponding mask register
contents, multiple message objects may fulfill the selection criteria described
above. In this case, the received frame is stored in the fitting message object with
the lowest message number.
Identifier
of Received Frame
Bitwise
XOR
=1
Identifier
of Message Object n
‘0’ = Bit Match
‘1’ = No Match
&
Acceptance Mask
of Message Object n
Bitwise
AND
Result = 0:
ID of the received frame
fits to message object n
Result > 0:
ID of the received frame does
not fit to message object n
MCA05480
Figure 22-10 Acceptance Filtering for Received Message Identifiers
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22.1.4.2 Handling of Remote and Data Frames
Message objects can be set up for transmit or receive operation according to the
selected value for control bit DIR. The impact of the message object type on the
associated CAN node controller concerning the generation or reception of remote and
data frames is illustrated in Table 22-1.
Table 22-1
Handling of Remote and Data Frames
A transmission
request (TXRQ =
‘10’) for this
message object
generates …
If a data frame with If a remote frame
matching identifier with matching
identifier is
is received …
received …
Receive Object
(receives data
frames, transmits
remote frames,
control bit DIR = ‘0’)
… a remote frame. … the data frame is … the remote frame
is NOT taken into
The requested data stored in this
account.
message object.
frame is stored in
this message object
on reception.
Transmit Object
(transmits data
frames, receives
remote frames,
control bit DIR = ‘1’)
… the data frame is
… a data frame
NOT stored.
based upon the
information stored in
this message
object.
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… the remote frame
is stored in this
message object and
RMTPND and
TXRQ are set to
‘10’.
A data frame, based
upon the
information stored in
this message
object, is
automatically
generated if
CPUUPD is set to
‘01’.
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22.1.4.3 Handling of Transmit Message Objects
A message object with direction flag DIR = ‘1’ (message configuration register
MSGCFGn) is handled as transmit object.
All message objects with bitfield MSGVAL = ‘10’ are operable and taken into account by
the CAN node controller operation described below.
During the initialization phase, the transmit request bitfield (TXRQ), the new information
bitfield (NEWDAT) should be reset to ‘01’ and the update in progress by CPU bitfield
(CPUUPD) in register MSGCTRn should be reset to ‘10’. The message bytes to be
transmitted are written into the data partition of the message object (MSGDRn0,
MSGDRn4). The number of message bytes to be transmitted has to be written to bitfield
DLC in register MSGCFGn. The selected identifier has to be written to register MSGARn.
Then, bitfield NEWDAT in register MSGCTRn should be set to ‘10’ and bitfield CPUUPD
should be reset to ‘01’ by the CPU.
When the remote monitoring mode is enabled (RMM = ‘1’ in MSGCFGn), the identifier
and the data length code of a received remote frame will be copied to the corresponding
transmit message object, if a matching identifier was found during the compare and
mask operation with all CAN message objects. The copy procedure may change the
identifier in the transmit message object, if some MSGAMRn mask register bits have
been set to ‘0’.
As long as bitfield MSGVAL in register MSGCTRn is set to ‘10’, the reception of a remote
frame with matching identifier automatically sets bitfield TXRQ to ‘10’. Simultaneously,
bitfield RMTPND in register MSGCTRn is set to ‘10’ in order to indicate the reception of
an accepted remote frame. Alternatively, TXRQ may be set by the CPU via a write
access to register MSGCTRn. If the transmit request bitfield TXRQ is found at ‘10’ (while
MSGVAL = ‘10’ and CPUUPD = ‘01’) by the appropriate CAN controller node, a data
frame based upon the information stored in the respective transmit message object is
generated and automatically transferred when the associated CAN bus is idle.
If bitfield CPUUPD in register MSGCTRn is set to ‘10’, the automatic transmission of a
message object is prohibited and flag TXRQ is not evaluated by the respective CAN
node controller. The CPU can release the pending transmission by clearing CPUUPD.
This allows the user to listen on the bus and to answer remote frames under software
control.
When the data partition of a transmit message object has to be updated by the CPU,
bitfield CPUUPD in message control register MSGCTRn should be set to ‘10’, inhibiting
a read or write access of the associated CAN node controller. If a remote frame with an
accepted identifier arrives during the update of a message object’s data storage, bitfields
TXRQ and RMTPND are automatically set to ‘10’ and the transmission of the
corresponding data frame is pending until CPUUPD is reset again.
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If several valid message objects with pending transmission request are noticed by the
associated CAN node controller, the contents of the message object with the lowest
message number is transmitted first.
Bitfield NEWDAT is internally reset by the respective CAN node controller when the
contents of the selected message object’s data registers is copied to the bitstream
processor. Bitfields RMTPND and TXRQ are automatically reset when the message
object has been successfully transmitted.
The captured value of the frame counter is copied to bitfield CFCVAL in register
MSGCTRn and a transmit interrupt request is generated (INTPNDn and TXIPNDn are
set) if enabled by TXIE = ‘10’. Then the Frame Counter is incremented by one if enabled
in control register AFCR/BFCR.
When a data frame with matching identifier is received, it is ignored by the respective
transmit object and not indicated by any interrupt request.
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yes
no
Bus Free
?
no
Matching
Remote Frame
Received
?
TXRQ = ‘10’
CPUUPD = ‘01’
yes
no
yes
NEWDAT := ‘01’
Copy Message to
Bitstream Processor
TXRQ := ‘10’
RMTPND := ‘10’
Send Message
no
RXIE := ‘10’
Transmission
Successful
?
no
yes
INTPND := ‘10’
yes
NEWDAT = ‘10’
no
TXRQ := ‘01’
RMTPND := ‘01’
yes
no
TXIE = ‘10’
yes
INTPND := ‘10’
‘01’ : Reset
‘10’ : Set
MCA05481
Figure 22-11 Handling of Message Objects with Direction = ‘1’ = Transmit by the
CAN Controller Node Hardware
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22.1.4.4 Handling of Receive Message Objects
A message object with direction flag DIR = ‘0’ (message configuration register
MSGCFGn) is handled as receive object.
In the initialization phase, the transmit request bitfield (TXRQ), the message lost bitfield
(MSGLST) and the NEWDAT bitfield in register MSGCTR should be reset.
All message objects with bitfield MSGVAL = ‘10’ are operable and taken into account by
the CAN node controller operation described below.
When a data frame has been received, the new information is stored in the data partition
of the message object (MSGDRn0, MSGDRn4) and the bitfield DLC in register
MSGCFG is updated with the number of received bytes. Unused message bytes will be
overwritten by non-specified values. If the NEWDAT bitfield in register MSGCTR is still
set, the CAN controller assumes an overwrite of the previously stored message and
signals a data loss by setting bitfield MSGLST. In any case, bitfield NEWDAT is
automatically set to ‘10’ reporting an update of the data register by the CAN controller.
The captured value of the frame counter is copied to bitfield CFCVAL in register
MSGCTRn and a receive interrupt request is generated (INTPNDn and RXIPNDn are
set) if enabled by RXIE = ‘10’. Then the frame counter is incremented by one if enabled
in control register AFCR/BFCR.
When a receive object is marked to be transmitted (TXRQ = ‘10’), bit MSGLST changes
automatically to CPUUPD. If CPUUPD is reset to ‘01’, the CAN controller generates a
remote frame which is emitted to the other communication partners via CAN bus. In case
of CPUUPD = ‘10’, the remote frame transfer is prohibited until the CPU releases the
pending transmission by resetting CPUUPD to ‘01’. RMTPND and TXRQ are
automatically reset, when the remote frame has been successfully transmitted. Finally,
a transmit interrupt request is generated if enabled by TXIE = ‘10’.
When a remote frame with matching identifier is received, it is not answered and not
indicated by an interrupt request.
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yes
no
no
Bus Idle
?
Matching
Data Frame
Received
?
TXRQ = ‘10’
CPUUPD = ‘01’
yes
no
yes
NEWDAT := ‘01’
yes
Load Identifier and
Control Bits into
Bitstream Processor
Send Remote Frame
NEWDAT = ‘10’
no
MSGLST := ‘10’
Transmission
Successful
?
no
yes
TXRQ := ‘01’
RMTPND := ‘01’
Store Message
NEWDAT := ‘10’
TXRQ := ‘01’
RMTPND := ‘01’
TXIE = ‘10’
RXIE := ‘10’
no
yes
no
yes
INTPND := ‘10’
INTPND := ‘10’
‘01’ : Reset
‘10’ : Set
MCA05482
Figure 22-12 Handling of Message Objects with Direction = ‘0’ = Receive by the
CAN Controller Node Hardware
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22.1.4.5 Single Data Transfer Mode
The single data transfer mode is a useful feature in order to broadcast data over the CAN
bus without unintended doubling of information. The single data transfer mode is
selected via bit SDT in the FIFO/Gateway control register MSGFGCRn.
Each received data frame with matching identifier is automatically stored in the
corresponding receive message object if MSGVAL is set to ‘10’. When data frames
addressing the same message object are received within a short time interval,
information might get lost (indicated by MSGLST = ‘10’), if the CPU has not processed
the former message object contents in time.
Each arriving remote frame with matching identifier is answered by a data frame based
on the contents of the corresponding message object. This behavior may lead to multiple
generation and transmission of identical data frames according to the number of
accepted remote requests.
If SDT is set to ‘1’, the CAN node controller automatically resets bit MSGVAL in a
message object after receiving a data frame with corresponding identifier. All following
data frames, addressing the disabled message object, are ignored until MSGVAL is set
again by the CPU.
If SDT is set to ‘1’, the CAN node controller automatically resets bit MSGVAL in the
addressed message object, when the transmission of the corresponding data frame has
been finished successfully. In consequence, all following remote requests concerning
the disabled message object are ignored until MSGVAL is set again by the CPU. This
feature allows for transmitting data in a consecutive manner without unintended doubling
of any information.
If SDT is cleared, control bitfield MSGVAL is not reset by the CAN node controller.
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22.1.5
CAN Message Object Buffer (FIFO)
In case of a high CPU load, it may be difficult to process an incoming data frame before
the corresponding message object is overwritten with the next input data stream
provided by the CAN node controller. Depending on the application, it could be also
necessary to ensure a minimum data frame generation rate to fulfill external real time
requirements.
Therefore, a message buffer facility has been implemented in order to avoid a loss of
incoming messages and to minimize the setup time for outgoing messages. Some
message objects can be configured as a base object using succeeding slave message
objects as individual buffer storage (building a circular buffer used as message FIFO).
FIFO Object n + 7
FIFO Object n + 6
FIFO Object n + 5
To / From
CAN Bus
FIFO Object n + 4
Protocol Layer
FIFO Object n + 3
FIFO Object n + 2
FIFO Object n + 1
Message
Transferred
FIFO Object n (base)
Select
Object
Control
Status
FIFO Control Unit
MCA05483
Figure 22-13 FIFO Buffer Control Structure
The number of base and slave message objects, combined to a buffer, has to be a power
of two (2, 4, 8 etc.) and the buffer base address has to be an integer multiple of the buffer
length (e.g. a buffer containing 8 messages can use object 0, 8, 16 or 24 as base object
as illustrated in Table 22-2).
A base object is defined by setting bitfield MMC to ‘010’ in control register MSGFGCRn
and the requested buffer size is determined by selecting an appropriate value for FSIZE.
A slave object is defined by setting bitfield MMC to ‘011’. Bitfield FSIZE has to be equal
in all FIFO elements in the same FIFO.
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Table 22-2
Message Objects Providing FIFO Base Functionality
Msg. Object n >
FIFO Size
0
2
4
6
8
10
12
14
16
18
…
30
2 stage FIFO
X
X
X
X
X
X
X
X
X
X
X
4 stage FIFO
X
–
X
–
X
–
X
–
X
–
–
8 stage FIFO
X
–
–
–
X
–
–
–
X
–
–
16 stage FIFO
X
–
–
–
–
–
–
–
X
–
–
32 stage FIFO
X
–
–
–
–
–
–
–
–
–
–
The identifiers and corresponding acceptance masks have to be identical in all FIFO
elements belonging to the same buffer in case of a receive FIFO (DIR = ‘0’). In case of
a transmit FIFO (DIR = ‘1’) the identifier of the currently addressed message object is
taken into account for transmission.
Each member of a buffer configuration keeps its individual MSGVAL, NEWDAT,
CPUUPD or MSGLST, TXRQ and RMTPND flag and its separate interrupt control
configuration. Inside a FIFO buffer, all elements must be
•
•
•
•
•
•
assigned to the same CAN node (control bit NODE in register MSGCFGn),
programmed for the same transfer direction (control bit DIR),
set up to the same identifier length (control bit XTD),
programmed to the same FIFO length (bitfield FSIZEn) and
set up with the same value for the FIFO direction (bit FD in register MSGFGCRn).
The slave’s CANPTR has to point to the FIFO base object.
The base object’s CANPTR has to be initialized with the message number of the base
object, the CANPTR pointers of the slave objects have to be set up with the message
number of the base object. The CANPTR of the base object addresses the next FIFO
element to be accessed for information transfer and its value can be calculated
according the following rule:
CANPTRn(new) := CANPTRn(old) & ∼FSIZEn | (CANPTRn(old) + 1) & FSIZEn
Control bit FD defines which transfer action (reception or transmission) leads to an
update of the CANPTR bitfield. Bit FD works independently from the direction bit DIR of
the FIFO elements. The reception of a data frame (DIR = ‘0’) or the reception of a remote
frame (DIR = ‘1’) are receive actions leading to an update of CANPTR if FD = ‘0’. The
transmission of a data frame (DIR = ‘1’) or the transmission of a remote frame (DIR = ‘0’)
are transmit actions initiating an increment of CANPTR if FD = ‘1’.
Note: The overall message object storage size is not affected by the configuration of
buffer structures. The available storage size may be used for 32 message objects
without buffering or for one message object with a buffer depth of 32 elements.
Additionally, any combination of buffered and unbuffered message objects
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according to the FIFO rules is allowed as long as the limit of 32 message objects
is not exceeded.
22.1.5.1 Buffer Access by the CAN Controller
The data transfer between the message buffer and the CAN bus is managed by the
associated CAN controller. Each buffer is controlled by a FIFO algorithm (First In, First
Out = First Overwritten) storing messages, delivered by the CAN controller, in a circular
order.
CAN Pointer
= base + 1
CAN Pointer
= base + 2
(slave)
(slave)
Element
1
CAN Pointer
= base + 0
Element
2
Element
0
Element
3
(base)
(slave)
(slave)
(slave)
Element
7
CAN Pointer
= base + 7
CAN Pointer
= base + 3
Element
4
Element
6
CAN Pointer
= base + 4
Element
5
(slave)
(slave)
CAN Pointer
= base + 6
CAN Pointer
= base + 5
MCA05484
Figure 22-14 Structure of a FIFO Buffer with one Base Object and Seven Slave
Objects
If the FIFO buffer was initialized with receive objects, the first accepted message is
stored in the base message object (number n), the second message is written to buffer
element (n+1) and so on. The number of the element, used to store the next input
message, is indicated by bitfield CANPTR in control register MSGFGCRn of the base
object. If the reserved buffer space has been used up, the base message object
(followed by the consecutive slave objects) is addressed again to store the next incoming
message. When a message object was not read out on time by the CPU, the previous
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message data is overwritten, which is indicated by flag MSGLST in the corresponding
MSGCTR register.
If the FIFO buffer was initialized with transmit message objects, the CAN controller starts
the transfer with the contents of buffer element 0 (FIFO base object) and increments
bitfield CANPTR in control register MSGFGCRn, pointing to the next element to be
transmitted.
If the message object, which is currently addressed by the base object’s CANPTR, is not
valid (MSGVAL = ‘01’), the FIFO is not enabled for data transfer. In this case, the
MSGVAL bitfields of the other FIFO elements (including the base element if not currently
addressed) are not taken into account.
In the case that the MSGVAL bitfields are set to ‘10’ for the FIFO base object and ‘01’ for
the currently addressed FIFO slave object, the data will not be delivered to the slave
object, whereas the bitfield CANPTR in the FIFO base object is incremented according
to FIFO rules.
If the FIFO is set up for the transmission of data frames and a matching remote frame is
detected for one of the elements of the FIFO, the transmit request and remote pending
bits will be set automatically in the corresponding message object. The transmission of
the requested data frame is handled according to the FIFO rules and the value of the
CANPTR bitfield in the FIFO base object.
22.1.5.2 Buffer Access by the CPU
The message transfer between a buffer and the CPU has to be managed by software.
All message objects, combined to a buffer, can be accessed directly by the CPU. Bitfield
CANPTR in control register MSGFGCRn is not automatically modified by a CPU access
to the message object registers.
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22.1.6
Gateway Message Handling
The CAN module supports an automatic information transfer between two independent
CAN bus systems without CPU interaction.
CAN Bus A
CAN Bus B
CAN
Node A
CAN
Node B
Gateway
CAN Message Object Memory
Bus Interface
CPU
MCA05485
Figure 22-15 TwinCAN Gateway Functionality
The gateway functionality is handled via the CAN message object memory shared by
both CAN nodes. Each object stored in the message memory is associated to node A or
to node B via bit NODE in the message configuration register MSGCFGn. The
information exchange between both CAN nodes can be handled by coupling two
message objects (normal gateway mode) or by sharing one common message object
(shared gateway mode).
In the following paragraphs, the gateway side receiving data frames is named “source”
(indicated by <s>) and the side transmitting the data frames, which passed the gateway,
is called “destination” (indicated by <d>). In concordance to this notation, remote frames
passing the gateway are received on the destination side and transmitted on the source
side.
The gateway function of a message object and the requested information transfer mode
are defined by bitfield MMC in the FIFO/Gateway control register MSGFGCRn.
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To FIFO
Object n
Message 1
To FIFO
Object n + 1
Message 2
To FIFO
Object n + 2
Message 3
To FIFO
Object n + 3
Source Bus
Speed A
Message 4
Node A
TwinCAN
Node B
Destination Bus
Speed B
Message 1
Message 2
To FIFO
Object n
Message 3
To FIFO
Object n + 1
Message 4
To FIFO
Object n + 2
To FIFO
Object n + 3
MCA05486
Figure 22-16 Message Burst in Case of FIFO/Gateway
22.1.6.1 Normal Gateway Mode
The normal gateway mode consumes two message objects to transfer a message from
the source to the destination node. In this mode, different identifiers can be used for the
same message data. Details of the message transfer through the normal gateway are
controlled by the respective MSGFGCR<s> and MSGFGCR<d> registers. All 8 data bytes
from the source object (even if not all bytes are valid) are copied to the destination object.
The object receiving the information from the source node has to be configured as
receive message object (DIR = 0) and must be associated to the source CAN bus via bit
NODE. Register MSGFGCR<s> should be initialized according the following
enumeration:
•
•
•
Bitfield MMC<s> has to be set to ‘100’ indicating a normal mode gateway for incoming
(data) frames.
Bitfield CANPTR<s> must be initialized with the number of the message object used
as destination for the data copy process.
If no FIFO functionality is required on the destination side, bitfield FSIZE<s> has to be
filled with ‘00000’. When FIFO capabilities are needed, bitfield FSIZE<s> must contain
the FIFO buffer length, which has to be identical with the content of the FIFO base
object’s FSIZE bitfield on the destination side.
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•
•
•
When bit IDC<s> is set, the identifier of the source message object is copied to the
destination message object. Otherwise, the identifier of the destination message
object is not modified.
If DLCC<s> is set, the data length code of the source message is copied to the
destination object.
Bit GDFS<s> decides, whether the transmit request flag on the destination side is set
(TXRQ<d> = ‘10’ if GDFS<s> = ‘1’) after finishing the data copy process. An automatic
transmission of the copied data frame on the destination side takes place, if control
bit CPUUPD<d> is reset to ‘01’.
The destination message object, addressed by CANPTR<s>, has to be configured for
transmit operation (DIR = 1). Depending on the required functionality, the destination
message object can be set up in three different operating modes:
•
•
•
•
With MMC<d> = ‘000’, the destination message object is declared as standard
message object. In this case, data frames, received on the source side, can be
automatically emitted on the destination side if enabled by the respective control bits
CPUUPD<d> and GDFS<s>. Remote frames, received on the destination side, are not
transferred to the source side, but can be directly answered by the destination
message object if CPUUPD<d> is reset to ‘01’.
With MMC<d> = ‘100’, the destination message object is declared as normal mode
gateway for incoming (remote) frames. Data frames, received on the source side, can
be automatically emitted on the destination side if enabled (CPUUPD<d>, GDFS<s>)
and remote frames, received on the destination side, are transmitted on the source
side if enabled by SRREN<d> = ‘1’.
With MMC<d> = ‘01x’, the destination message object is set up as an element of a
FIFO buffering the data frames transferred from the source side through the gateway.
Remote frames, received on the destination side, are not transferred to the source
side, but can be directly answered by the currently addressed FIFO element if
CPUUPD<d> is reset (bits SRREN<d> have to be cleared).
Remote frame handling is completely done on the destination side according to FIFO
rules.
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MMC<d> = ‘000’:
The operation with a standard message object on the destination side is illustrated in
Figure 22-17.
Source CAN Bus
Destination CAN Bus
Gateway
Gateway
Source
Gateway
Destination
Pointer to Destination
Message Object
Node = <s>
Node = <d>
MMC = ‘100’
MMC = ‘000’
CANPTR = <d>
CANPTR = <d>
FSIZE = ‘00000’
FSIZE = ‘00000’
DIR = ‘0’
TXRQ = ‘01’
RMTPND = ‘01’
NEWDAT = ‘10’
INTPND
Data Frame
DATA
Copy if IDC<s> = ‘1’
ID
DLC
DIR = ‘1’
Copy
DATA
ID
Copy if DLCC<s> = ‘1’
Reset
Set if GDFS<s> = ‘1’
Reset
Unchanged
Set
Set
Set if RXIE<s> = ‘1’
Pointer to
Destination
Message
Object
Set if RXIE<d> = ‘1’
Copy Data Frame
DLC
TXRQ
RMTPND
NEWDAT = ‘10’
INTPND
Data Frame (GDFS<s> = ‘1’)
MCA05487
Figure 22-17 Data Frame Reception in Normal Gateway Mode with a Standard
Destination Message Object (MMC<d> = ‘000’)
A matching data frame, arrived at the source node, is automatically copied to the
destination node’s message object addressed by CANPTR<s>. Bitfield CANPTR<d> is
loaded with the destination message object number. Regardless of control bit
SRREN<d>, remote frames, received on the destination node, are not transferred to the
source side, but can be directly answered by the destination message object. For this
purpose, control bitfields TXRQ<d> and RMTPND<d> are set to ‘10’, which immediately
initiates a data frame transmission on the destination CAN bus if CPUUPD<d> is reset to
‘01’.
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MMC<d> = ‘100’:
The operation with a normal mode gateway message object for incoming (remote)
frames on the destination side is illustrated in Figure 22-18.
Source CAN Bus
Destination CAN Bus
Gateway
Gateway
Source
Pointer to Source
Message Object
Gateway
Destination
Pointer to Destination
Message Object
Node = <s>
Node = <d>
MMC = ‘100’
MMC = ‘100’
CANPTR = <d>
CANPTR = <s>
FSIZE = ‘00000’
FSIZE = ‘00000’
DIR = ‘0’
DIR = ‘1’
DATA
ID
DLC
TXRQ
RMTPND
NEWDAT
INTPND
Remote Frame
DATA
Copy if IDC<d> = ‘1’
Copy if DLCC<d> = ‘1’
Set if SRREN<d> = ‘1’ Set if SRREN<d> = ‘0’
Set if SRREN<d> = ‘1’ Set if SRREN<d> = ‘0’
Unchanged
Unchanged
Set if RXIE<s> = ‘1’
Set if RXIE<d> = ‘1’
Remote Request
ID
DLC
TXRQ
Updated if
RMM<d> = ‘1’
Updated if
RMM<d> = ‘1’
RMTPND
NEWDAT
INTPND
Remote Frame
(SRREN<d> = ‘1’)
Data Frame (SRREN<d> = ‘0’)
MCA05488
Figure 22-18 Remote Frame Transfer in Normal Gateway Mode, MMC<d> = ‘100’
The gateway object on the destination side, setup as transmit object, can receive remote
frames. If bit SRREN<d> in the associated gateway control register MSGFGCRn is
cleared, a remote frame with matching identifier is directly answered by the CAN
destination node controller. For this purpose, control bits TXRQ<d> and RMTPND<d> are
set to ‘10’, which immediately initiates a data frame transmission on the destination CAN
bus if CPUUPD<d> is reset. When bit SRREN<d> is set to ‘1’, a remote frame received on
the destination side is transferred via the gateway and transmitted again by the CAN
source node controller.
A transmit request for the gateway message object on the source side, initiated by the
CPU via setting TXRQ<s>, generates always a remote frame on the source CAN bus
system.
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22.1.6.2 Normal Gateway with FIFO Buffering
MMC<d> = ‘01x’:
When the gateway destination object is programmed as FIFO buffer, bitfield CANPTR<s>
is used as pointer to the FIFO element to be addressed as destination for the next copy
process. CANPTR<s> has to be initialized with the message object number of the FIFO
base element on the destination side. CANPTR<s> is automatically updated according to
the FIFO rules, when a data frame was copied to the indicated FIFO element on the
destination side. Bit GDFS<s> determines if the TXRQ<d> bit in the selected FIFO element
is set after reception of a data frame copied from the source side.
The base message object is indicated by <ba>, the slave message objects by <sl>. The
number of base and slave message objects, combined to a buffer on the destination
side, has to be a power of two (2, 4, 8 etc.) and the buffer base address has to be an
integer multiple of the buffer length. Bitfield CANPTR<ba> of the FIFO base element and
bitfield CANPTR<s> have to be initialized with the same start value (message object
number of the FIFO base element). CANPTR<sl> of all FIFO slave elements must be
initialized with the message object number of the FIFO base element. Bitfield FSIZE<d>
of all FIFO elements must contain the FIFO buffer length and has to be identical with the
content of FSIZE<s>.
Figure 22-19 illustrates the operation of a normal gateway with a FIFO buffer on the
destination side.
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Source CAN Bus
Destination CAN Bus
Gateway
Gateway
Source
Gateway
Destination
Node = <d>
MMC<sl> = ‘011’
CANPTR<sl>
Node = <s>
Node = <d>
MMC = ‘100’
MMC<ba> = ‘010’
CANPTR = <d>
FSIZE = ‘00001’
Pointer to next addressed
Destination Message Object
DIR = ‘0’
DATA
ID
DLC
TXRQ = ‘10’
RMTPND = ‘01’
NEWDAT = ‘01’
INTPND
Remote Frame
Pointer to
Base
Object
CANPTR<ba>
FSIZE = ‘00001’
DIR = ‘1’
Copy by SW if Required
Copy by SW if Required
Set by SW
Reset by SW
Reset by SW
Reset by SW
Reset by SW
Unchanged
Unchanged
Set if RXIE<d> = ‘1’
Copy Remote Request by SW
DATA
ID
DLC
TXRQ = ‘01’
RMTPND = ‘01’
NEWDAT
INTPND
FIFO
Remote Frame
(CPUUPD<d> = ‘10’)
Data Frame (CPUUPD<d> = ‘01’)
MCA05489
Figure 22-19 Data Frame Transfer in Normal Gateway Mode with a 2 Stage FIFO on
the Destination Side (MMC<d> = ‘01x’)
Remote frames, received on the destination side by a FIFO element, cannot be
automatically passed to the source side. Therefore, the SRREN<d> control bits,
associated to the FIFO elements on the destination side, have to be cleared in order to
answer incoming remote frames with matching identifiers directly with a data frame.
Buffered transfers of remote requests from the destination to the source side can be
handled by a software routine operating on the FIFO buffered gateway configuration for
data frame transfers. The elements of the FIFO buffer on the destination side should be
configured as transmit message objects with CPUUPD<d> = ‘10’. An arriving remote
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frame with matching identifier should initiate an interrupt service request for the
addressed FIFO message object. The associated interrupt service routine may copy the
message identifier and the data length code from the received remote frame to a receive
message object linked with the source side CAN node. In any case, TXRQ of the
selected receive message object must be set to ‘10’ initiating the transmission of a
remote frame on the source side.
Source CAN Bus
Destination CAN Bus
Gateway
Gateway
Source
Gateway
Destination
Node = <d>
MMC<sl> = ‘011’
CANPTR<sl>
Node = <s>
Node = <d>
MMC = ‘100’
MMC<ba> = ‘010’
CANPTR = <d>
DIR = ‘0’
RMTPND = ‘01’
NEWDAT = ‘10’
INTPND
Data Frame
DIR = ‘1’
DATA
Copy if IDC<s> = ‘1’
ID
TXRQ = ‘01’
FSIZE = ‘00001’
Copy
DATA
DLC
CANPTR<ba>
Pointer to next addressed
Destination Message Object
FSIZE = ‘00001’
ID
Copy if DLCC<s> = ‘1’
Reset
Set if GDFS<s> = ‘0’
Reset
Unchanged
Set
Set
Set if RXIE<s> = ‘1’
Pointer to
Base
Object
Set if RXIE<d> = ‘1’
Copy Data Frame
DLC
TXRQ
RMTPND
NEWDAT = ‘10’
INTPND
FIFO
Data Frame (GDFS<s> = ‘1’)
MCA05490
Figure 22-20 Remote Frame Transfer in Normal Gateway Mode with a 2-stage FIFO
on the Destination Side
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22.1.6.3 Shared Gateway Mode
In shared gateway mode, only one message object is required to implement a gateway
functionality. The shared gateway object can be considered as normal message object,
which is toggled between the source and destination CAN node as illustrated in
Figure 22-21.
Source CAN Bus
Destination CAN Bus
Source
Node
Destination
Node
Shared Gateway
Control Logic
Node = <s, d>
MMC = ‘101’
CANPTR = ‘n’
Pointer to
Message
Object
FSIZE = ‘00000’
DIR = ‘0’, ‘1’
DATA
ID
DLC
TXRQ
RMTPND
NEWDAT
INTPND
MCA05491
Figure 22-21 Principle of the Shared Gateway Mode
Each message object can be used as shared gateway by setting MMC in the
corresponding MSGFGCRn register to ‘101’. When the message configuration bit NODE
is cleared, CAN node A is used as source, transferring data frames to destination node
B. If NODE is set to ‘1’, CAN node B operates as data source. A bidirectional gateway is
achieved by using a second message object, configured to shared gateway mode with
a complementary NODE declaration. Bitfield CANPTR has to be initialized with the
shared gateway’s message object number, whereas FSIZE, IDC and DLCC have to be
cleared. Bit GDFS in control register MSGFGCRn determines, whether bit TXRQ will be
automatically set in case of an arriving data frame with matching identifier (GDFS = ‘1’).
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Bit SRREN determines, whether a remote frame, received on the destination side, is
transferred through the gateway to the source node or is directly answered by a data
frame generated on the destination side.
The functionality of the shared gateway mode is optimized to support different scenarios:
•
•
•
a data source, connected with CAN node A, transmits continuously data frames,
which have to be automatically emitted on the destination CAN bus by CAN node B.
The corresponding transfer state transitions are 1 - 2 - …
a data source, connected with CAN node A, transmits continuously data frames,
which have to be emitted by CAN node B upon a matching remote frame received
from the destination CAN bus.
The corresponding transfer state transitions are 7 - 4 - 2 - …
a data source, connected with CAN node A, transmits a data frame upon a matching
remote frame, which has been triggered by a matching remote frame received by
CAN node B. The respective data frame has to be emitted again on the destination
CAN bus by CAN node B.
The corresponding transfer state transitions are 5 - 6 - 1 - 3 - …
Depending on the application, the shared gateway message object can be initialized as
receive object on the source side or transmit object on the destination side via an
appropriate configuration of NODE, DIR, GDFS and SRREN. The various transfer states
are illustrated in Figure 22-22.
Data Frame Transmission, SRREN = ‘1’
3
Transmit Object
Destination Side
TXRQ Set
1
Data Frame
Reception,
GDFS = ‘1’
4
Remote Frame Reception,
SRREN = ‘0’
2
7
Data Frame
Transmission,
SRREN = ‘0’
Receive Object
Source Side
TXRQ Reset
Data Frame
Reception,
GDFS = ‘0’
6
Remote Frame Transmission
Transmit Object
Destination Side
TXRQ Reset
5
Remote Frame
Reception,
SRREN = ‘1’
Receive Object
Source Side
TXRQ Set
MCA05492
Figure 22-22 Transfer States in Shared Gateway Mode
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TwinCAN Module
When a shared gateway message object, set up as receive object on the source side
(lower left state bubble in Figure 22-22), receives a data frame while GDFS is set to ‘1’,
it commutes to a transmission object on the destination side by toggling control bits
NODE and DIR and sends the corresponding data frame without any CPU interaction
(upper left state bubble).
Depending on control bit SRREN, the shared gateway message object returns to its
initial function as receive object assigned to the source side (SRREN = ‘0’: state
transition 2 to the lower left state bubble in Figure 22-22) or remains assigned to the
destination side waiting for a remote frame with matching identifier (SRREN = ‘1’: state
transition 3 to the upper right state bubble).
When the shared gateway message object is assigned as transmit object to the
destination side (upper right state bubble), it responds to remote frames received on the
destination side. If bit SRREN is cleared, the remote request is directly answered by a
data frame based on the contents of the gateway message object (state transition 4 to
the upper left state bubble).
If bit SRREN is set and a remote frame is received on the destination side, the shared
gateway message object commutes to a receive object on the source side by toggling
control bits NODE and DIR and prepares the emission of the received remote frame by
setting TXRQ and RMTPND to ‘10’ (state transition 5 to the lower right state bubble).
Then the shared gateway message object emits the corresponding remote frame without
any CPU interaction (state transition 6 to the lower left state bubble).
The gateway message object remains assigned to the source side until a data frame with
matching identifier arrives (lower left state bubble). Then the shared gateway message
object returns to the destination side and, depending on control bit GDFS, transmits
immediately the corresponding data frame (GDFS = ‘1’, upper left state bubble) or waits
upon an action of the CPU setting TXRQ to ‘10’ (GDFS = ‘0’: state transition 7 to the
upper right state bubble). Alternatively, a remote frame with matching identifier, arriving
on the destination side, may set TXRQ to ‘10’ and initiate the data frame transmission.
If a data frame arrives on the source side while the shared gateway object with matching
identifier is switched to the destination side, the data frame on the source side gets lost.
Due to the temporary assignment to the destination node, the shared gateway message
object does not notice the data frame on the source node and is not able to report the
data loss via control bitfield MSGLST = ‘10’. The probability for a data loss is enlarged,
if the automatic data frame transmission on the destination side is disabled by
GDFS = ‘0’. A corresponding behavior has to be taken into account for incoming remote
frames on the destination bus.
Note: As long as bitfield MSGLST is activated, an incoming data frame cannot be
automatically transmitted on the destination side. Due to the internal toggling of
control bit DIR, the shared gateway object converts from receive to transmit
operation and bitfield MSGLST is interpreted as CPUUPD = ‘10’ preventing the
automatic transmission of a data frame.
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TwinCAN Module
Impact of the transfer state transitions on the bitfields in the message object in shared
gateway mode:
Table 22-3
Shared Gateway State Transitions (Part 1 of 2)
Bitfields
Transition 1:
Data Frame
Received,
GDFS = ‘1’
Transition 2:
Data Frame
Transmitted,
SRREN = ‘0’
Transition 3:
Data Frame
Transmitted,
SRREN = ‘1’
Transition 4:
Remote Frame
Received,
SRREN = ‘0’
Node
toggled to <d>
toggled to <s>
unchanged
unchanged
DIR
set
reset
unchanged
unchanged
DATA
received
unchanged
unchanged
unchanged
Identifier
received
unchanged
unchanged
received if
RMM = ‘1’
DLC
received
unchanged
unchanged
received if
RMM = ‘1’
TXRQ
set
reset
reset
set
RMTPND
reset
reset
reset
set
NEWDAT
set
reset
reset
reset
INTPND
set if RXIE = ‘10’ set if TXIE = ‘10’ set if TXIE = ‘10’ set if RXIE = ‘10’
Table 22-4
Shared Gateway State Transitions (Part 2 of 2)
Bitfields
Transition 5:
Remote Frame
Received,
SRREN = ‘1’
Transition 6:
Remote Frame
Transmitted
Transition 7:
Data Frame Received,
GDFS = ‘0’
Node
toggled to <s>
unchanged
toggled to <d>
DIR
reset
unchanged
set
DATA
unchanged
unchanged
received
Identifier
received if RMM = ‘1’
unchanged
received
DLC
received if RMM = ‘1’
unchanged
received
TXRQ
set
reset
reset
RMTPND
reset
reset
reset
NEWDAT
unchanged
unchanged
set
INTPND
set if RXIE = ‘10’
set if TXIE = ‘10’
set if RXIE = ‘10’
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
22.1.7
Programming the TwinCAN Module
A software initialization should be performed by setting bit INIT in the CAN node specific
control register ACR/BCR to ‘1’. While bit INIT is set, all message transfers between the
CAN controller and the CAN bus are disabled.
The initialization routine should process the following tasks:
•
•
configuration of the corresponding node,
initialization of each associated message object.
22.1.7.1 Configuration of CAN Node A/B
Each CAN node can be individually configured by programming the associated register.
Depending on the content of the ACR/BCR control registers, the normal operation mode
or the CAN analyzer mode is activated. Furthermore, various interrupt categories (status
change, error, last error) can be enabled or disabled.
The bit timing is defined by programming the ABTR/BBTR register. The prescaler value,
the synchronization jump width and the time segments, arranged before and after the
sample point, depend on the characteristic of the CAN bus segment linked to the
corresponding CAN node.
The global interrupt node pointer register (AGINP/BGINP) controls multiplexer
connecting an interrupt request source (error, last error, global transmit/receive and
frame counter overflow interrupt request) with one of the eight common interrupt nodes.
The contents of the INTID mask register (AIMR0/4 and BIMR0/4) decides which interrupt
sources may be reported by the AIR/BIR interrupt pending register.
22.1.7.2 Initialization of Message Objects
The message memory space, containing 32 message objects, is shared by both CAN
nodes. Each message object has to be configured concerning its target node and
operation properties. An initialization of the message object properties is always started
with disabling the message object via MSGVAL = ‘01’.
The CAN node, associated with a message, is defined by bit NODE in register
MSGCFGn. The message object can be also defined as gateway, transferring
information from CAN node A to B or vice versa. In this case, the FIFO/Gateway control
register MSGFGCRn must be programmed to specify the gateway mode (bitfield MMC),
the target interrupt node and further details of the information handover.
The identifier, correlated with a message, is set up in register MSGARn. Bit XTD in
register MSGCFGn indicates, whether an extended 29-bit or a standard 11-bit identifier
is used and has to be set accordingly. Incoming messages can be filtered by the mask
defined in register MSGAMRn.
The message interrupt handling can be individually configured for transmit and receive
direction. The direction specific interrupt is enabled by bits TXIE and RXIE in register
MSGCNTn and the target interrupt node is selected by bitfields TXINP and RXINP in
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TwinCAN Module
register MSGCFGn.
Message objects can be provided with a FIFO buffer. The buffer size is determined by
bitfield FSIZE in the FIFO/Gateway control register MSGFGCRn.
For transmit message objects, the object property assignment can be already finished
by setting MSGVAL to ‘10’, before the corresponding data partition has been initialized.
If bitfield CPUUPD is set to ‘10’, an incoming remote frame with matching identifier is
kept in mind via setting TXRQ internally, but is not immediately answered by a
corresponding data frame. The message data, stored in register MSGDRn0/MSGDRn4,
can be updated as long as CPUUPD is hold on ‘10’. As soon as CPUUPD is reset to ‘01’,
the respective data frame is transmitted by the associated CAN node controller.
22.1.7.3 Controlling a Message Transfer
Figure 22-23 illustrates the handling of a transmit message object. The initialization of
the message object properties is always started with disabling the message object via
MSGVAL = ‘01’. After resetting some control flags (INTPND, RMTPND, TXRQ and
NEWDAT), the transfer direction and the identifier are defined. The message object
initialization is finished by setting MSGVAL to ‘10’.
An update of a transmit message data partition should be prepared by setting CPUUPD
to ‘10’ followed by a write access to the MSGDRn0/MSGDRn4 register. The data
partition update must be indicated by the CPU via setting NEWDAT to ‘10’. Afterwards,
bit CPUUPD must be reset to ‘01’, if an automatic message handling is requested. In this
case, the data transmission is started, when flag TXRQ in register MSGCTRn has been
set to ‘10’ by software or by the respective CAN node hardware due to a received remote
frame with matching identifier. If CPUUPD remains set, the CPU must initiate the data
transmission by setting TXRQ to ‘10’ and disabling CPUUPD. If a remote frame with an
accepted identifier arrives during the update of a message object’s data storage, bit
TXRQ and RMTPND are automatically set to ‘10’ and the transmission of the
corresponding data frame is automatically started by the CAN controller when CPUUPD
is reset again.
Figure 22-24 demonstrates the handling of a receive message object. The initialization
of the message object properties is embedded between disabling and enabling the
message object via MSGVAL as described above. After setting MSGVAL to ‘10’, the
transmission of a remote frame can be initiated by the CPU via TXRQ = ‘10’. The
reception of a data frame is indicated by the associated CAN node controller via
NEWDAT = ‘10’. The processing of the received data frame, stored in register
MSGDRn0/MSGDRn4, should be started by the CPU with resetting NEWDAT to ‘01’.
After scanning flag MSGLST, indicating a loss of the previous message, the received
information should be copied to an application data buffer in order to release the
message object for a new data frame. Finally, NEWDAT should be checked again to
ensure, that the processing was based on a consistent set of data and not on a part of
an old message and part of the new message.
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Power Up
(all bits written with reset values)
Message Initialization
MSGVAL = ‘01’
INTPND := ‘01’
RMTPND := ‘01’
TXRQ := ‘01’
NEWDAT := ‘01’
DIR := ‘1’ (transmit object)
Identifier := (application specific)
XTD := (application specific)
TXIE := (application specific)
RXIE := (application specific)
CPUUPD := ‘10’
MSGVAL := ‘10’
CPUUPD := ‘10’
NEWDAT := ‘10’
Update : Start
Update
Write / Calculate Message Contents
Update : End
CPUUPD := ‘01’
yes
Want to Send
?
TXRQ := ‘10’
no
no
‘01’ : Reset
‘10’ : Set
Update Message
?
yes
MCA05493
Figure 22-23 CPU Handling of Message Objects with Direction = Transmit
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Power Up
(all bits written with reset values)
Initialization
MSGVAL = ‘01’
INTPND := ‘01’
RMTPND := ‘01’
TXRQ := ‘01’
NEWDAT := ‘01’
DIR := 0 (receive object)
MSGLST := ‘01’
TXIE := (application specific)
RXIE := (application specific)
Identifier := (application specific)
XTD := (application specific)
MSGVAL := ‘10’
NEWDAT := ‘01’
Data Frame Processing
Process Message Contents
NEWDAT = ‘10’
?
yes
Restart Process
no
no
Remote Frame
Transmission
?
yes
Remote Frame Generation
TXRQ := ‘10’
‘01’ : Reset
‘10’ : Set
MCA05494
Figure 22-24 CPU Handling of Message Objects with Direction = Receive
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TwinCAN Module
22.1.8
Loop-Back Mode
The TwinCAN module’s loop-back mode provides the means to internally test the
TwinCAN module and CAN driver software. CAN driver software can be developed and
tested without being connected to a CAN bus system.
In loop-back mode, the transmit pins deliver recessive signals to the transceiver. The
transmit signals are combined together and are connected to the internal receive signals,
as shown in Figure 22-25. The receive input pins are not taken into account in loop-back
mode.
MUX
RxDCA
MUX
0
1
1
0
1
TxDCA
TwinCAN
Kernel
MUX
RxDCB
MUX
0
1
1
0
1
TxDCB
&
LBM
MCA05495
Figure 22-25 Loop-back Mode
Loop-back mode is controlled by bits LBM in the bit timing registers of Node A and
Node B according to Table 22-5.
Table 22-5
Loop-Back Mode
ABTR.LBM
BBTR.LBM
Description
0
0
Loop-back mode is disabled.
0
1
Loop-back mode is disabled.
1
0
Loop-back mode is disabled.
1
1
Loop-back mode is enabled.
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
22.1.9
Single Transmission Try Functionality
Single transmission try functionality is controlled individually for each message object by
bit STT in register MSGFGCRn. If the single transmission try functionality is enabled, the
transmit request flag TXRQ is reset immediately after the transmission of a frame related
to this message object has started. Thus, a transmit frame is only transferred once on
the CAN bus, even if it has been corrupted by error frames.
Note: A message object must be tagged valid by bitfield MSGVAL in order to enable the
transmission of the respective frame.
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TwinCAN Module
22.1.10
Module Clock Requirements
The functionality of the TwinCAN module is programmable in several respects. In order
to operate at a specific baudrate with a given functionality a certain minimum module
clock frequency is required. Table 22-6 lists some examples for certain configurations.
These examples cover the worst case conditions where the CPU executes accesses to
the TwinCAN module consecutively and with maximum speed.
The module clock frequency can be reduced (see last column of Table 22-6) if no frames
without data (data frames with DLC = 0 or remote frames) are transferred over the CAN
bus. This is possible, because internal operations can be executed while the data part is
transferred.
Table 22-6
Minimum Module Clock Frequencies for 1 Mbit/s
1 Node Active,
DLC ≥ 0
2 Nodes Active,
DLC ≥ 0
2 Nodes Active,
DLC ≥ 1
FIFO/gateway
enabled
21 MHz
36 MHz
32 MHz
No
FIFO/gateway
20 MHz
29 MHz
26 MHz
Note: The given numbers are required for the maximum CAN bus speed of 1 Mbit/s. For
lower bit-rates the minimum module clock frequency can be reduced linearly, i.e.
half the frequency is required for a bit-rate of 500 kbit/s.
However, if two nodes are operated with different bit-rates, the module clock
frequency must be chosen according to the fastest node.
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TwinCAN Module
22.2
TwinCAN Register Description
22.2.1
Register Map
Figure 22-26 shows all registers associated with the TwinCAN module kernel.
CAN Node A
Registers
CAN Node B
Registers
CAN Message
Object
Registers 1)
Global CAN
Control / Status
Registers
ACR
BCR
MSGDRn0
RXIPND
ASR
BSR
MSGDRn4
TXIPND
AIR
BIR
MSGARn
ABTR
BBTR
MSGAMRn
AGINP
BGINP
MSGCTRn
AFCR
BFCR
MSGCFGn
AIMR0
BIMR0
MSGFGCRn
AIMR4
BIMR4
AECNT
BECNT
ACR
ASR
AIR
ABTR
AGINP
AFCR
AIMR0
AIMR4
AECNT
Node A Control Register
Node A Status Register
Node A Interrupt Pending Register
Node A Bit Timing Register
Node A Global Int. Node Pointer Reg.
Node A Frame Counter Register
Node A INTID Mask Register 0
Node A INTID Mask Register 4
Node A Error Counter Register
BCR
BSR
BIR
BBTR
BGINP
BFCR
BIMR0
BIMR4
BECNT
Node B Control Register
Node B Status Register
Node B Interrupt Pending Register
Node B Bit Timing Register
Node B Global Int. Node Pointer Reg.
Node B Frame Counter Register
Node B INTID Mask Register 0
Node B INTID Mask Register 4
Node B Error Counter Register
MSGDRn0
MSGARn
MSGCTRn
MSGFGCRn
Msg. Object n Data Register 0
Msg. Object n Arbitration Register
Msg. Object n Control Register
Msg. Object n FIFO/Gatew. Cont. Reg.
MSGDRn4 Msg. Object n Data Register 4
MSGAMRn Msg. Object n Acceptance Mask Reg.
MSGCFGn Msg. Object n Configuration Register
RXIPND
Receive Interrupt Pending Register
TXIPND
Transmit Interrupt Pending Register
1) The number ‘n’ indicates the message object number, n = 0 … 31.
MCA05496
Figure 22-26 TwinCAN Kernel Registers
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Module
Offset
+000H
Reserved
+200H
CAN Node A
Registers
Node A
+240H
CAN Node B
Registers
Control Reg.
+00H
Status Reg.
+04H
Interrupt Pending Reg.
+08H
Bit Timing Reg.
+0CH
Global INP Reg.
+10H
Frame Counter Reg.
+14H
INTID Mask 0 Reg.
+18H
INTID Mask 4 Reg.
+1CH
Error Counter Reg.
+20H
Control Reg.
+00H
Status Reg.
+04H
Interrupt Pending Reg.
+08H
Bit Timing Reg.
+0CH
Global INP Reg.
+10H
Frame Counter Reg.
+14H
INTID Mask 0 Reg.
+18H
INTID Mask 4 Reg.
+1CH
Error Counter Reg.
+20H
Receive Int. Pending
+04H
Transmit Int. Pending
+08H
Data Register 0
+00H
Data Register 4
+04H
Arbitration Register
+08H
Acceptance Mask Reg.
+0CH
Message Control Reg.
+10H
Message Config. Reg.
+14H
FIFO/Gateway Control
+18H
+280H
Global Control
Registers
+2C0H
Node B
Reserved
+300H
Message Object 0
+320H
Message Object 1
+340H
Message Object 2
...
Message Object n
...
+6E0H
Message Object 31
MCA05497
Figure 22-27 TwinCAN Kernel Address Map
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
22.2.2
CAN Node A/B Registers
The Node Control Register controls the initialization, defines the node specific interrupt
handling and selects an operation mode.
ACR
Node A Control Register
BCR
Node B Control Register
15
14
13
12
11
Reset Value: 0001H
Reset Value: 0001H
10
9
8
7
6
CAL
CCE
M
0
r
rw
rw
5
0
r
4
3
LEC
EIE
IE
rw
rw
2
1
0
SIE
0
INIT
rw
r
rwh
Field
Bits
Type Description
INIT
0
rwh
Initialization
0
Resetting bit INIT starts the synchronization to
the CAN bus. After a synchronization
procedure1), the node takes part in CAN
communication.
1
After setting bit INIT, the CAN node stops all CAN
bus activities and all registers can be initialized
without any impact on the actual CAN bus traffic.
Bit INIT is automatically set when the bus-off
state is entered.
SIE
2
rw
Status Change Interrupt Enable
A status change interrupt occurs when a message
transfer (indicated by the flags TXOK or RXOK in the
status registers ASR or BSR) is successfully
completed.
0
Status change interrupt is disabled.
1
Status change interrupt is enabled.
EIE
3
rw
Error Interrupt Enable
An error interrupt is generated on a change of bit BOFF
or bit EWRN in the status registers ASR or BSR.
0
Error interrupt is disabled.
1
Error interrupt is enabled.
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Field
Bits
Type Description
LECIE
4
rw
Last Error Code Interrupt Enable
A last error code interrupt is generated when an error
code is set in bitfield LEC in the status registers ASR or
BSR.
0
Last error code interrupt is disabled.
1
Last error code interrupt is enabled.
CCE
6
rw
Configuration Change Enable
0
Access to bit timing register and modification of
the error counters are disabled.
1
Access to bit timing register and modification of
the error counters are enabled.
CALM
7
rw
CAN Analyzer Mode
Bit CALM defines if the message objects of the
corresponding node operate in analyzer mode.
0
The CAN message objects participate in CAN
protocol.
1
CAN Analyzer Mode is selected.
0
1, 5,
[15:8]
r
Reserved; returns ‘0’ if read; should be written with ‘0’.
1) After resetting bit INIT by software without being in the bus-off state (e.g. after power-on), a sequence of
11 consecutive recessive bits (11 × ‘1’) on the bus has to be monitored before the module takes part in the
CAN traffic.
During a bus-off recovery procedure, 128 sequences of 11 consecutive recessive bits (11 × ‘1’) have to be
detected. The monitoring of the recessive bit sequences is immediately started by hardware after entering the
bus-off state. The number of already detected 11 × ‘1’ sequences is indicated by the receive error counter.
At the end of the bus-off recovery sequence, bit INIT is tested by hardware. If INIT is still set, the affected CAN
node controller waits until INIT is cleared and 11 consecutive recessive bits (11 × ‘1’) are detected on the CAN
bus, before the node takes part in CAN traffic again. If INIT has been already cleared, the message transfer
between the affected CAN node controller and its associated CAN bus is immediately enabled.
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
The Node Status Register reports error states and successfully ended data
transmissions. This register has to be read in order to release the status change interrupt
request.
ASR
Node A Status Register
BSR
Node B Status Register
15
14
13
12
11
Reset Value: 0000H
Reset Value: 0000H
10
9
8
7
6
B
E
OFF WRN
0
r
rh
rh
5
4
3
2
1
0
RX
OK
TX
OK
LEC
r
rwh
rwh
rwh
0
Field
Bits
Type Description
LEC
[2:0]
rwh
Last Error Code
Bitfield LEC indicates if the latest CAN message
transfer has been correct (No Error) or it indicates the
type of error, which has been detected. The error
conditions are detailed in Table 22-7.
000 No Error
001 Stuff Error
010 Form Error
011 Ack Error
100 Bit1 Error
101 Bit0 Error
110 CRC Error
111 reserved
TXOK
3
rwh
Message Transmitted Successfully
0
No successful transmission since last flag reset.
1
A message has been transmitted successfully
(error free and acknowledged by at least one
other node).
TXOK must be reset by software.
RXOK
4
rwh
Message Received Successfully
0
No successful reception since last flag reset.
1
A message has been received successfully.
RXOK must be reset by software.
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TwinCAN Module
Field
Bits
Type Description
EWRN
6
rh
Error Warning Status
0
No warning limit exceeded.
1
One of the error counters in the Error
Management Logic reached the error warning
limit of 96.
BOFF
7
rh
Bus-Off Status
0
CAN controller is not in the bus-off state.
1
CAN controller is in the bus-off state.
0
5,
[15:8]
r
Reserved; returns ‘0’ if read; should be written with ‘0’.
Table 22-7
Meaning of the LEC Bitfield
LEC Error
Description
No Error
The latest transfer on the CAN bus has been completed successfully.
Stuff Error
More than 5 equal bits in a sequence have occurred in a part of a
received message where this is not allowed.
Form Error
A fixed format part of a received frame has the wrong format.
Ack Error
The transmitted message was not acknowledged by another node.
Bit1 Error
During a message transmission, the CAN node tried to send a
recessive level (‘1’), but the monitored bus value was dominant
(outside the arbitration field and the acknowledge slot).
Bit0 Error
Two different conditions are signaled by this code:
1. During transmission of a message (or acknowledge bit, active
error flag, overload flag), the CAN node tried to send a dominant
level (‘0’), but the monitored bus value has been recessive.
2. During bus-off recovery, this code is set each time a sequence of
11 recessive bits has been monitored. The CPU may use this
code as an indication, that the bus is not continuously disturbed.
CRC Error
The CRC checksum of the received message was incorrect.
User’s Manual
TwinCAN_X1, V2.1
22-52
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XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
The Interrupt Pending Register contains the identification number of the pending
interrupt request with the highest priority.
AIR
Node A Interrupt Pending Register
BIR
Node B Interrupt Pending Register
15
14
13
12
11
10
9
Reset Value: 0000 0000H
Reset Value: 0000 0000H
8
7
6
5
4
3
0
INTID
r
rwh
2
1
0
Field
Bits
Type Description
INTID
[7:0]
rwh
Interrupt Identifier
00H No interrupt is pending.
01H LEC, EI, TXOK or RXOK interrupt is pending.
02H RX or TX interrupt of message object 0 is pending.
03H RX or TX interrupt of message object 1 is pending.
…
…
21H RX or TX interrupt of message object 31 is
pending.
Bitfield INTID can be written by software to start an
update after software actions and to check for changes.
0
[15:8]
r
Reserved; returns ‘0’ if read.
User’s Manual
TwinCAN_X1, V2.1
22-53
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Register AECNT/BECNT contains the values of the receive error counter and the
transmit error counter. Some additional status/control bits allow for easier error analysis.
AECNTH
Node A Error Counter Register High
AECNTL
Node A Error Counter Register Low
BECNTH
Node B Error Counter Register High
BECNTL
Node B Error Counter Register Low
15
15
14
14
13
12
Reset Value: 0060H
Reset Value: 0000H
8
0
LE
INC
LE
TD
EWRNLVL
r
rh
rh
rw
9
8
12
11
10
Reset Value: 0000H
9
13
11
Reset Value: 0060H
10
7
7
6
6
5
5
4
3
4
3
TEC
REC
rwh
rwh
2
1
0
2
1
0
Field
Bits
Type Description
REC
[7:0]
Low
rwh
Receive Error Counter
Bitfield REC contains the value of the receive error
counter for the corresponding node.
TEC
[15:8]
Low
rwh
Transmit Error Counter
Bitfield TEC contains the value of the transmit error
counter for the corresponding node.
EWRNLVL
[7:0]
Low
rw
Error Warning Level
Bitfield EWRNLVL defines the threshold value
(warning level, default 60H = 96D) to be reached in
order to set the corresponding error warning bit
EWRN.
User’s Manual
TwinCAN_X1, V2.1
22-54
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Field
Bits
Type Description
LETD
8
High
rh
Last Error Transfer Direction
0
The last error occurred while the corresponding
CAN node was receiving a message (REC has
been incremented).
1
The last error occurred while the corresponding
CAN node was transmitting a message (TEC
has been incremented).
An error during message reception is indicated without
regarding the result of the acceptance filtering.
LEINC
9
High
rh
Last Error Increment
0
The error counter was incremented by 1 due to
the error reported by LETD.
1
The error counter was incremented by 8 due to
the error reported by LETD.
0
[15:10] r
High
Reserved; returns ‘0’ if read; should be written with ‘0’.
Note: Modifying the contents of register AECNT/BECNT requires bit CCE = ‘1’ in register
ACR/BCR.
User’s Manual
TwinCAN_X1, V2.1
22-55
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
The Bit Timing Register contains all parameters to adjust the data transfer baud rate and
the bit timing.
ABTRH
Node A Bit Timing Register High
ABTRL
Node A Bit Timing Register Low
BBTRH
Node B Bit Timing Register High
BBTRL
Node B Bit Timing Register Low
15
15
14
14
13
12
13
12
11
11
10
9
10
9
Reset Value: 0000H
Reset Value: 0000H
Reset Value: 0000H
Reset Value: 0000H
8
7
6
5
4
3
2
1
0
0
LBM
r
rw
8
7
6
5
4
3
2
DIV
8X
TSEG2
TSEG1
SJW
BRP
rw
rw
rw
rw
rw
1
0
Field
Bits
Type Description
BRP
[5:0]
Low
rw
Baudrate Prescaler
One bit time quantum corresponds to the period length
of the external oscillator clock multiplied by (BRP+1),
depending also on bit DIV8X.
SJW
[7:6]
Low
rw
(Re)Synchronization Jump Width
(SJW+1) time quanta are allowed for
resynchronization.
TSEG1
[11:8]
Low
rw
Time Segment Before Sample Point
(TSEG1+1) time quanta before the sample point take
into account the signal propagation delay and
compensate a mismatch between transmitter and
receiver clock phase.
Valid values for TSEG1 are 2 … 15.
User’s Manual
TwinCAN_X1, V2.1
22-56
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Field
Bits
Type Description
TSEG2
[14:12]
Low
rw
Time Segment After Sample Point
(TSEG2+1) time quanta after the sample point take
into account a user defined delay and compensate a
mismatch between transmitter and receiver clock
phase.
Valid values for TSEG2 are 1 … 7.
DIV8X
15
Low
rw
Division of Module Clock fCAN by 8
0
The baudrate prescaler is directly driven by fCAN.
1
The baudrate prescaler is driven by fCAN/8.
LBM
0
High
rw
Loop-Back Mode
0
Loop-back mode is disabled.
1
Loop-back mode is enabled, if bits LBM are set
in the BTR registers of Node A and Node B.
0
[15:1]
High
r
Reserved; read as ‘0’; should be written with ‘0’.
Note: Modifying the contents of register ABTR/BBTR requires bit CCE = ‘1’ in register
ACR/BCR.
User’s Manual
TwinCAN_X1, V2.1
22-57
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XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
The Frame Counter Register controls the frame counter functionality and provides status
information.
AFCRH
Node A Frame Counter Register High
AFCRL
Node A Frame Counter Register Low
BFCRH
Node B Frame Counter Register High
BFCRL
Node B Frame Counter Register Low
15
15
14
14
13
12
13
11
10
9
Reset Value: 0000H
Reset Value: 0000H
Reset Value: 0000H
Reset Value: 0000H
8
7
6
5
4
3
2
1
0
CFC CFC
OV
IE
0
CFCMD
r
rwh
rw
r
rw
7
6
12
11
10
9
8
5
4
3
2
1
0
0
CFC
rwh
Field
Bits
Type Description
CFC
[15:0]
Low
rwh
User’s Manual
TwinCAN_X1, V2.1
CAN Frame Counter
This bitfield contains the count value of the frame
counter.
At the end of a correct message transfer, the value of
CFC (captured value during SOF bit) is copied to
bitfield CFCVAL of the corresponding message object
control register MSGCTRn.
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TwinCAN Module
Field
Bits
Type Description
CFCMD
[3:0]
High
rw
Frame Count Mode
This bitfield defines the operation mode of the frame
counter. This counter can work on frame base (frame
count) or on time base (time stamp).
0XXXB Frame Count:1)
0XX0B
The CFC is not incremented after a foreign
frame was transferred on the CAN bus.
0XX1B
The CFC is incremented each time a
foreign frame was transferred correctly on
the CAN bus.
0X0XB
The CFC is not incremented after a frame
was received by the respective CAN node.
The CFC is incremented each time a frame
0X1XB
was received correctly by the node.
00XXB
The CFC is not incremented after a frame
was transmitted by the node.
01XXB
The CFC is incremented each time a frame
was transmitted correctly by the node.
1XXXB Time Stamp:
1000B
The CFC is incremented with the beginning
of a new bit time. The value is sampled
during the SOF bit.
1001B
The CFC is incremented with the beginning
of a new bit time. The value is sampled
during the last bit of EOF.
others
reserved
CFCIE
6
High
rw
CAN Frame Count Interrupt Enable
Setting CFCIE enables the CAN Frame Counter
Overflow (CFCO) interrupt request.
0
The CFCO interrupt is disabled.
1
The CFCO interrupt is enabled.
CFCOV
7
High
rwh
CAN Frame Count Overflow Flag
Flag CFCOV is set on a CFC overflow condition
(FFFFH to 0000H). An interrupt request is generated if
the corresponding interrupt is enabled (CFCIE = ‘1’).
0
An overflow has not yet been detected.
1
An overflow has been detected since the bit has
been reset.
CFCOV must be reset by software.
User’s Manual
TwinCAN_X1, V2.1
22-59
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Field
Bits
Type Description
0
[5:4],
[15:8]
High
r
Reserved; read as ‘0’; should be written with ‘0’.
1) If the frame counter functionality has been selected (CFCMD.3 = ‘0’), bit CFCMD.0 enables or disables the
counting of foreign frames. A foreign frame is a correct frame on the bus, which has not been transmitted
/received by the node itself. Bit CFCMD.1 enables or disables the counting of frames, which have been
received correctly by the corresponding CAN node. Bit CFCMD.2 enables or disables the counting of frames,
which have been transmitted correctly by the corresponding CAN node.
User’s Manual
TwinCAN_X1, V2.1
22-60
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
The Global Interrupt Node Pointer Register connects each global interrupt request
source with one of the 8 available CAN interrupt nodes.
AGINP
Node A Global Interrupt Node Pointer Register
BGINP
Node B Global Interrupt Node Pointer Register
15
14
13
12
11
10
9
8
7
Reset Value: 0000H
Reset Value: 0000H
6
5
4
3
2
1
0
CFCINP
0
TRINP
0
LECINP
0
EINP
r
rw
r
rw
r
rw
r
rw
0
Field
Bits
Type Description
EINP
[2:0]
rw
Error Interrupt Node Pointer
Number of interrupt node reporting the “Error
Interrupt Request”, if enabled by EIE = ‘1’.
000B CAN interrupt node 0 is selected.
…
…
111B CAN interrupt node 7 is selected.
LECINP
[6:4]
rw
Last Error Code Interrupt Node Pointer
Number of interrupt node reporting the last error
interrupt request, if enabled by LECIE = ‘1’.
000B CAN interrupt node 0 is selected.
…
…
111B CAN interrupt node 7 is selected.
TRINP
[10:8]
rw
Transmit/Receive OK Interrupt Node Pointer
Number of interrupt node reporting the transmit and
receive interrupt request, if enabled by SIE = ‘1’.
000B CAN interrupt node 0 is selected.
…
…
111B CAN interrupt node 7 is selected.
CFCINP
[14:12]
rw
Frame Counter Interrupt Node Pointer
Number of interrupt node reporting the frame counter
overflow interrupt request, if enabled by CFCIE = ‘1’.
000B CAN interrupt node 0 is selected.
…
…
111B CAN interrupt node 7 is selected.
0
3, 7,
11, 15
r
Reserved; read as ‘0’; should be written with ‘0’.
User’s Manual
TwinCAN_X1, V2.1
22-61
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
The Interrupt Identification Mask Registers allow for disabling the identification
notification of a pending interrupt request in the AIR/BIR register. The Interrupt Mask
Registers AIMR0/BIMR0 are used to enable the message specific interrupt sources
(correct transmission/ reception) for the generation of the corresponding INTID value.
AIMRH0
Node A INTID Mask Register 0 High
AIMRL0
Node A INTID Mask Register 0 Low
BIMRH0
Node B INTID Mask Register 0 High
BIMRL0
Node B INTID Mask Register 0 Low
15
14
13
12
11
10
9
Reset Value: 0000H
Reset Value: 0000H
Reset Value: 0000H
Reset Value: 0000H
8
7
6
5
4
3
2
1
0
5
4
3
2
1
0
IMCn (n = 31-16)
rw
15
14
13
12
11
10
9
8
7
6
IMCn (n = 15-0)
rw
Field
Bits
Type Description
IMCn
(n = 15-0)
n
Low
rw
IMCn
(n = 31-16)
n-16
High
User’s Manual
TwinCAN_X1, V2.1
Message Object n INTID Mask Control
0
Message object n is ignored for the
generation of the INTID value.
1
The interrupt pending status of
message object n is taken into account
for the generation of the INTID value.
22-62
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TwinCAN Module
The Interrupt Mask Registers AIMR4/BIMR4 are used to enable the node specific
interrupt sources (last error, correct reception, error warning/bus-off) for the generation
of the corresponding INTID value.
AIMR4
Node A INTID Mask Register 4
BIMR4
Node B INTID Mask Register 4
15
14
13
12
11
10
Reset Value: 0000H
Reset Value: 0000H
9
8
7
6
5
4
3
2
1
0
IMC IMC IMC
34
33
32
0
r
rw
rw
rw
Field
Bits
Type Description
IMC32
0
rw
Last Error Interrupt INTID Mask Control
0
The last error interrupt source is ignored for
the generation of the INTID value.
1
The last error interrupt source is taken into
account for the generation of the INTID
value.
IMC33
1
rw
TX/RX Interrupt INTID Mask Control
0
The TX/RX interrupt source is ignored for the
generation of the INTID value.
1
The TX/RX interrupt pending status is taken
into account for the generation of the INTID
value.
IMC34
2
rw
Error Interrupt INTID Mask Control
0
The error interrupt source is ignored for the
generation of the INTID value.
1
The error interrupt pending status is taken
into account for the generation of the INTID
value.
0
[15:3]
r
Reserved; read as ‘0’; should be written with ‘0’.
User’s Manual
TwinCAN_X1, V2.1
22-63
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
22.2.3
CAN Message Object Registers
Each message object is provided with a set of control and data register. The
corresponding register names are supplemented with a variable n running from 0 to 31
(e.g. MSGDRn0 means that data register MSGDR300 is assigned with message object
number 30).
The Message Data Register 0 contains the data bytes 0 to 3 of message object n.
MSGDRHn0 (n = 31-0)
Message Object n Data Register 0 High
MSGDRLn0 (n = 31-0)
Message Object n Data Register 0 Low
15
15
14
14
13
12
13
11
10
9
8
Reset Value: 0000H
Reset Value: 0000H
7
6
5
4
3
DATA3
DATA2
rwh
rwh
12
11
10
9
8
7
6
5
4
3
DATA1
DATA0
rwh
rwh
2
1
0
2
1
0
Field
Bits
Type Description
DATA0
[7:0]
Low
rwh
Data Byte 0 Associated to Message Object n
DATA1
[15:8]
Low
rwh
Data Byte 1 Associated to Message Object n
DATA2
[7:0]
High
rwh
Data Byte 2 Associated to Message Object n
DATA3
[15:8]
High
rwh
Data Byte 3 Associated to Message Object n
User’s Manual
TwinCAN_X1, V2.1
22-64
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
The Message Data Register 4 contains the data bytes 4 to 7 of message object n.
MSGDRHn4 (n = 31-0)
Message Object n Data Register 4 High
MSGDRLn4 (n = 31-0)
Message Object n Data Register 4 Low
15
15
14
14
13
12
13
11
10
9
8
Reset Value: 0000H
Reset Value: 0000H
7
6
5
4
3
DATA7
DATA6
rwh
rwh
12
11
10
9
8
7
6
5
4
3
DATA5
DATA4
rwh
rwh
2
1
0
2
1
0
Field
Bits
Type Description
DATA4
[7:0]
Low
rwh
Data Byte 4 Associated to Message Object n
DATA5
[15:8]
Low
rwh
Data Byte 5 Associated to Message Object n
DATA6
[7:0]
High
rwh
Data Byte 6 Associated to Message Object n
DATA7
[15:8]
High
rwh
Data Byte 7 Associated to Message Object n
User’s Manual
TwinCAN_X1, V2.1
22-65
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Register MSGARn contains the identifier of message object n.
MSGARHn (n = 31-0)
Message Object n Arbitration Register High
MSGARLn (n = 31-0)
Message Object n Arbitration Register Low
15
15
14
13
12
11
10
9
8
7
Reset Value: 0000H
Reset Value: 0000H
6
0
ID[28:16]
r
rwh
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
5
4
3
2
1
0
ID[15:0]
rwh
Field
Bits
Type Description
ID[15:0]
[15:0]
Low
[12:0]
High
rwh
ID[28:16]
0
[15:13] r
High
User’s Manual
TwinCAN_X1, V2.1
Message Identifier
Identifier of a standard message (ID[28:18]) or an
extended message (ID[28:0]). For standard identifiers
bits ID[17:0] are “don’t care”.
Reserved; returns ‘0’ if read; should be written with ‘0’.
22-66
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TwinCAN Module
Register MSGAMRn contains the mask bits for the acceptance filtering of message
object n.
MSGAMRHn (n = 31-0)
Message Object n Arbitration Mask Register High
MSGAMRLn (n = 31-0)
Message Object n Arbitration Mask Register Low
15
15
14
13
12
11
10
9
8
7
6
1
AM[28:16]
r
rw
14
13
12
11
10
9
8
7
6
Reset Value: FFFFH
Reset Value: FFFFH
5
4
3
2
1
0
5
4
3
2
1
0
AM[15:0]
rw
Field
Bits
Type Description
AM[15:0]
[15:0]
Low
[12:0]
High
rw
AM[28:16]
1
[15:13] r
High
User’s Manual
TwinCAN_X1, V2.1
Message Acceptance Mask
Mask to filter incoming messages with standard
identifiers (AM[28:18]) or extended identifiers
(AM[28:0]). For standard identifiers bits AM[17:0] are
“don’t care”.
0
Identifier bit is ignored for acceptance test.
1
Identifier bit is taken into account for the
acceptance filtering.
Reserved; returns ‘1’ if read; should be written with ‘1’.
22-67
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TwinCAN Module
Register MSGCTRn affects the data transfer between a CAN node controller and the
corresponding message object n and provides a bitfield to store the captured value of
the frame counter.
MSGCTRHn (n = 31-0)
Message Object n Message Control Register High
MSGCTRLn (n = 31-0)
Message Object n Message Control Register Low
15
14
13
12
11
10
9
8
7
Reset Value: 0000H
Reset Value: 5555H
6
5
4
3
2
1
0
6
5
4
3
2
1
0
CFCVAL
rwh
15
14
13
12
11
10
9
8
7
RMTPND
TXRQ
MSGLST
CPUUPD
NEWDAT
MSGVAL
TXIE
RXIE
INTPND
rwh
rwh
rwh
rwh
rwh
rw
rw
rwh
Field
Bits
Type Description
INTPND
[1:0]
Low
rwh
Message Object Interrupt Pending
INTPND is generated by an “OR” operation between
the RXIPNDn and TXIPNDn flags (if enabled by TXIE
or RXIE). INTPND must be reset by software.
Resetting INTPND also resets the corresponding
RXIPND and TXIPND flags.
01
No message object interrupt request is
pending.
10
The message object has generated an interrupt
request.
RXIE
[3:2]
Low
rw
Message Object Receive Interrupt Enable
01
Message object receive interrupt is disabled.
10
Message object receive interrupt is enabled.
If RXIE is set, bits INTPND and RXIPND are set
after successful reception of a frame.
TXIE
[5:4]
Low
rw
Message Object Transmit Interrupt Enable
01
Message object transmit interrupt is disabled.
10
Message object transmit interrupt is enabled.
If TXIE is set, bits INTPND and TXIPND are set
after successful transmission of a frame.
User’s Manual
TwinCAN_X1, V2.1
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Field
Bits
Type Description
MSGVAL1)
[7:6]
Low
rwh
Message Object Valid
The CAN controller only operates on valid message
objects. Message objects can be tagged invalid while
they are changed or if they are not used at all.
01
Message object is invalid.
10
Message object is valid.
NEWDAT2)
[9:8]
Low
rwh
New Message Object Data Available
01
No update of message object data occurred.
10
New message object data has been updated.
MSGLST
[11:10] rwh
Low
Message Lost (for reception only)
01
No message object data is lost.
10
The CAN controller has stored a new message
into the message object while NEWDAT was
still set. The previously stored message is lost.
MSGLST must be reset by software.
CPUUPD3)
[11:10] rwh
Low
CPU Update (for transmission only)
Indicates that the corresponding message object can
not be transmitted now. The software sets this bit in
order to inhibit the transmission of a message that is
currently updated by the CPU or to control the
automatic response to remote requests.
01
The message object data can be transmitted
automatically by the CAN controller.
10
The automatic transmission of the message
data is inhibited.
TXRQ4)
[13:12] rwh
Low
Message Object Transmit Request Flag
01
No message object data transmission is
requested by the CPU or a remote frame.
10
The transmission of the message object data,
requested by the CPU or by a remote frame, is
pending.
Automatic setting of TXRQ by the CAN node
controller can be disabled for Gateway Message
Objects via control bit GDFS = ‘0’.
TXRQ is automatically reset, when the message
object has been successfully transmitted.
If there are several valid message objects with
pending transmit requests, the message object with
the lowest message number will be transmitted first.
User’s Manual
TwinCAN_X1, V2.1
22-69
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Field
Bits
Type Description
RMTPND
[15:14] rwh
Low
Remote Pending Flag (used for transmit-objects)
01
No remote node request for a message object
data transmission.
10
Transmission of the message object data has
been requested by a remote node but the data
has not yet been transmitted. When RMTPND
is set, the CAN node controller also sets TXRQ.
RMTPND is automatically reset, when the message
object data has been successfully transmitted.
CFCVAL
[15:0]
High
Message Object Frame Counter Value
CFCVAL contains a copy of the frame counter content
valid for the last correct data transmission or
reception executed for the corresponding message
object.
rwh
1) MSGVAL has to be set from ‘01’ to ‘10’ in order to take into account an update of bits XTD, DIR, NODE and
CANPTR.
2) Bit NEWDAT indicates that new data has been written into the data registers of this corresponding message
object. For transmit objects, NEWDAT should be set by software and is reset by the respective CAN node
controller when the transmission is started.
For receive objects, NEWDAT is set by the respective CAN node controller after receiving a data frame with
matching identifier. It has to be reset by software.
When the CAN controller writes new data into the message object, unused message bytes will be overwritten
with non-specified values. Usually, the CPU will clear this bitfield before working on the data and will verify that
the bitfield is still cleared once the CPU has finished working to ensure a consistent set of data. For transmit
objects, the CPU should set this bitfield along with clearing bitfield CPUUPD. This will ensure that, if the
message is actually being transmitted during the time the message is updated by the CPU, the CAN controller
will not reset bitfield TXRQ. In this way, TXRQ is only reset once the actual data has been transferred correctly.
3) While bitfield MSGVAL is set (‘10’) an incoming matching remote frame is taken into account by automatically
setting bitfields TXRQ and RMTPND to ‘10’ (independent from bitfield CPUUPD/MSGLST). The transmission
of a frame is only possible if CPUUPD is reset (‘01’).
4) If a receive object (DIR = ‘0’) is requested for transmission, a remote frame will be sent in order to request a
data frame from another node. If a transmit object (DIR = ‘1’) is requested for transmission, a data frame will
be sent. Bitfield TXRQ will be reset by the CAN controller along with bitfield RMTPND after the correct
transmission of the data frame if bitfield NEWDAT has not been set or after correct transmission of a remote
frame.
Note: For transmitting frames (remote
CPUUPD/MSGLST has to be reset.
User’s Manual
TwinCAN_X1, V2.1
22-70
frames
or
data
frames),
bitfield
V1.0, 2004-06
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
The control and status element of the message control registers is implemented with two
complementary bits (except the frame counter value). This special mechanism allows
the selective setting or resetting of a specific element (leaving others unchanged) without
requiring read-modify-write cycles. Table 22-8 illustrates how to use these 2-bitfields.
Table 22-8
Setting/Resetting the Control and Status Element of the Message
Control Registers
Value of
the 2-bitfield
Function on Write
Meaning on Read
00B
reserved
reserved
01B
Reset element
Element is reset
10B
Set element
Element is set
11B
Leave element unchanged
reserved
Register MSGCFGn defines the configuration of message object n and the associated
interrupt node pointers. Changes of bits XTD, NODE or DIR by software are only taken
into account after setting bitfield MSGVAL to ‘10’. This avoids unintentional modification
while the message object is still active by explicitly defining a timing instant for the
update. Bits XTD, NODE or DIR can be written while MSGVAL is ‘01’ or ‘10’, the update
always takes place by setting MSGVAL to ‘10’.
MSGCFGHn (n = 31-0)
Message Object n Message Configuration Register High
MSGCFGLn (n = 31-0)
Message Object n Message Configuration Register Low
15
15
14
14
13
13
User’s Manual
TwinCAN_X1, V2.1
12
11
12
10
9
8
7
6
5
Reset Value: 0000H
Reset Value: 0000H
4
3
2
1
0
TXINP
0
RXINP
r
rw
r
rw
11
10
9
8
7
6
5
4
3
2
1
0
0
0
DLC
DIR XTD
NO
RMM
DE
r
rwh
rwh
rwh
22-71
rw
rw
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Field
Bits
Type Description
RMM
0
Low
rw
Transmit Message Object Remote Monitoring
Mode
0
Remote Monitoring mode is disabled.
1
Remote Monitoring mode is enabled for this
transmit message object. The identifier and DLC
code of a remote frame with matching identifier
are copied to this transmit message object in
order to monitor incoming remote frames.
Bit RMM is only available for transmit objects and has
no impact for receive objects.
NODE
1
Low
rwh
Message Object CAN Node Select
0
The message object is assigned to CAN node A.
1
The message object is assigned to CAN node B.
XTD
2
Low
rw
Message Object Extended Identifier
0
This message object uses a standard 11-bit
identifier.
1
This message object uses an extended 29-bit
identifier.
DIR
3
Low
rwh
Message Object Direction Control
0
The message object is defined as receive
object. If TXRQ = ‘10’, a remote frame with the
identifier of this message object is transmitted.
On reception of a data frame with matching
identifier, the message data is stored in the
corresponding MSGDRn0/MSGDRn4 registers.
1
The message object is declared as transmit
object. If TXRQ = ‘10’, the respective data frame
is transmitted. On reception of a remote frame
with matching identifier, RMTPND and TXRQ
are set to ‘10’.
DLC1)
[7:4]
Low
rwh
Message Object Data Length Code
0000B - 1XXXB
DLC contains the number of data bytes associated to
the message object.
Bitfield DLC may be modified by hardware in Remote
Monitoring Mode and in Gateway Mode.
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Field
Bits
Type Description
RXINP
[2:0]
High
rw
Receive Interrupt Node Pointer
Bitfield RXINP determines which interrupt node is
triggered by a message object receive event, if bitfield
RXIE in register MSGCTRn is set.
000B CAN interrupt node 0 is selected.
…
…
111B CAN interrupt node 7 is selected.
TXINP
[6:4]
High
rw
Transmit Interrupt Node Pointer
Bitfield TXINP determines which interrupt node is
triggered by a message object transmit event, if bitfield
TXIE in register MSGCTRn is set.
000B CAN interrupt node 0 is selected.
…
…
111B CAN interrupt node 7 is selected.
0
[15:8]
Low
3,
[15:7]
High
r
Reserved; returns ‘0’ if read; should be written with ‘0’.
1) The maximum number of data bytes is 8. A value > 8 written by the CPU, is internally corrected to 8 but the
content of bitfield DLC is not updated.
If a received data frame contains a data length code value > 8, only 8 bytes are taken into account. A read
access to bitfield DLC returns the original value of the DLC field of the received data frame.
The FIFO/gateway control register MSGFGCRn contains bits to enable and to control
the FIFO functionality, the gateway functionality and the desired transfer actions.
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22-73
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
MSGFGCRHn (n = 31-0)
Message Object n FIFO/Gateway Control Register High
MSGFGCRLn (n = 31-0)
Message Object n FIFO/Gateway Control Register Low
15
15
14
14
STT SDT
rw
rw
13
12
11
10
9
8
7
6
5
Reset Value: 0000H
Reset Value: 0000H
4
3
2
0
MMC
0
CANPTR
r
rw
r
rwh
13
12
11
10
FD
0
DL
CC
IDC
rw
r
rw
rw
9
8
7
SRR GD
EN FS
rw
rw
6
5
4
3
2
0
FSIZE
r
rw
1
0
1
0
Field
Bits
Type
Description
FSIZE
[4:0]
Low
rw
FIFO Size Control
Bitfield FSIZE determines the number of message
objects combined to a FIFO buffer. Even numbered
message objects may provide FIFO base or slave
functionality, while odd numbered message objects are
restricted to slave functionality. In gateway mode, FSIZE
determines the length of the FIFO on the destination
side.
00000B message object n is part of a 1-stage FIFO
00001B message object n is part of a 2-stage FIFO
00011B message object n is part of a 4-stage FIFO
00111B message object n is part of a 8-stage FIFO
01111B message object n is part of a 16-stage FIFO
11111B message object n is part of a 32-stage FIFO
else
reserved
FSIZE = ‘00000’ leads to the behavior of a standard
message object (the pointer CANPTR used for this
action will not be changed). This value has to be written
if a gateway transfer to a single message object (no
FIFO) as destination is desired.
FSIZE is not evaluated for message objects configured
in standard mode, shared gateway mode or FIFO slave
functionality. In this case, FSIZE should be programmed
to ‘00000’.
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TwinCAN_X1, V2.1
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Field
Bits
Type
Description
GDFS
8
Low
rw
Gateway Data Frame Send
Specifies if a CAN data frame will be automatically
generated on the destination side after new data has
been transferred via gateway from the source to the
destination side.
0
No additional action, TXRQ will not be set on the
destination side.
1
The corresponding data frame will be sent
automatically (TXRQ of the message object,
pointed to by CANPTRn, will be set by hardware).
Bit GDFS is only taken into account, if a data frame has
been received (DIR<s> = ‘0’).
SRREN
9
Low
rw
Source Remote Request Enable
Specifies if the transmit request bit is set in message
object n itself (to generate a data frame) or in the
message object pointed to by CANPTRn (in order to
generate a remote frame on the source bus).
0
A remote on the source bus will not be generated,
a data frame with the contents of the destination
object will be generated on the destination bus,
instead (TXRQn will be set).
1
A data frame with the contents of the destination
object will not be sent. Instead, a corresponding
remote frame will be generated by the message
object pointed to by bitfield CANPTRn
(TXRQ[CANPTRn] will be set).
SRREN is restricted to transmit message objects in
normal or shared gateway mode (DIR = ‘1’). This bit is
only taken into account if a remote frame has been
received.
Bit SRREN must not be set if message object n is part of
a FIFO buffer.
In order to generate a remote frame on the source side,
CANPTR has to point to the source message object.
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22-75
V1.0, 2004-06
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Field
Bits
Type
Description
IDC
10
Low
rw
Identifier Copy
IDC controls the identifier handling during a frame
transfer through a gateway.
0
The identifier of the receiving object is not copied
to the transmitting message object.
1
The identifier of the receiving object is
automatically copied to the transmitting message
object.
Bitfield IDC is restricted to message objects configured
in normal gateway mode.
DLCC
11
Low
rw
Data Length Code Copy
DLCC controls the handling of the data length code
during a data frame transfer through a gateway.
0
The data length code, provided by the source
object, is not copied to the transmitting object.
1
The data length code, valid for the receiving
object, is copied automatically to the transmitting
object.
Bitfield DLCC is restricted to message objects
configured in normal gateway mode.
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Field
Bits
Type
Description
FD
13
Low
rw
FIFO Direction
FD is only taken into account for a FIFO base object (the
FD bits of all FIFO elements should have an identical
value). It defines which transfer action (reception or
transmission) leads to an update of the FIFO base
object’s CANPTR.
0
FIFO Reception: The CANPTR (of the FIFO base
object) is updated after a correct reception of a
data frame (DIR = ‘0’) or a remote frame (DIR = ‘1’)
by the currently addressed message object. The
CANPTR is left unchanged after any transmission.
1
FIFO Transmission: The CANPTR (of the FIFO
base object) is updated after a correct
transmission of a data frame (DIR = ‘1’) or a
remote frame (DIR = ‘0’) from the currently
addressed message object. The CANPTR is left
unchanged after any reception.
Bitfield FD is not correlated with bit DIR.
SDT
14
Low
rw
Single Data Transfer Mode
This bit is taken into account in any transfer mode (FIFO
mode or as standard object, receive and transmit
objects).
0
Control bit MSGVAL is not reset when this object
has taken part in a successful data transfer
(receive or transmit).
1
Control bit MSGVAL is automatically reset after a
successful data transfer (receive or transmit) has
taken place.
Bit SDT is not taken into account for remote frames.
Bit SDT has to be reset in all message objects belonging
to a FIFO buffer.
STT
15
Low
rw
Single Transmission Try
0
Single transmission try is disabled.
1
Single transmission try is enabled. The
corresponding TXRQ bit is reset immediately after
the transmission has started1).
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TwinCAN_X1, V2.1
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Field
Bits
Type
Description
CANPTR
[4:0]
High
rwh
CAN Pointer for FIFO/Gateway Functions
Message object is configured in standard mode
(MMC = ‘000’):
No impact, CANPTR should be initialized with the
respective message object number.
Message object is configured as FIFO base object
(MMC = ‘010’):
CANPTR contains the number of the message object
addressed by the associated CAN controller for the next
transmit or receive operation.
For initialization, CANPTR should be written with the
message number of the respective FIFO base object.
Message object is configured as FIFO slave object
(MMC = ‘011’):
CANPTR has to be initialized with the respective
message object number of the FIFO base object.
Message object is configured for normal gateway
mode (MMC = ‘100’):
CANPTR contains the number of the message object
used as gateway destination object.
Message object is configured as gateway
destination object without FIFO functionality
(MMC = ‘000’):
If SRREN is set to ‘1’, CANPTR has to be initialized with
the number of the message object used as gateway
source. The backward pointer is required to transfer
remote frames from the destination to the source side.
If SRREN is cleared, CANPTR is not evaluated and must
be initialized with the respective message object
number.
Message object is configured for shared gateway
mode (MMC = ‘101’):
No impact, CANPTR has to be initialized with the
respective message object number.
For FIFO functionality (or gateway functionality with a
FIFO as destination), CANPTRn should not be written by
software while FIFO mode is activated and data transfer
is in progress. This bitfield can be used to reset the FIFO
by software.
User’s Manual
TwinCAN_X1, V2.1
22-78
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Field
Bits
Type
Description
MMC
[10:8]
High
rw
Message Object Mode Control
Bitfield MMC controls the functionality of message
object n.
000B
Standard message object functionality
010B
FIFO functionality enabled (base object)
011B
FIFO functionality enabled (slave object)
100B
Normal gateway functionality for incoming
frames
101B
Shared gateway functionality for incoming
frames
others
reserved
0
[7:5],
r
12
Low
[7:5],
[15:11]
High
Reserved; returns ‘0’ if read; should be written with ‘0’.
1) As a result, a message will not be re-transmitted if it has lost arbitration or has been corrupted by an error
frame.
Note: Changes of bitfield CANPTR for transmission objects are only taken into account
after setting bitfield MSGVAL to ‘10’. This avoids unintentional modification while
the message object is still active by explicitly defining a timing instant for the
update. Bitfield CANPTR for transmission objects can be written while MSGVAL
is ‘01’ or ‘10’, the update always takes place by setting MSGVAL to ‘10’. Changes
of bitfield CANPTR for receive objects are immediately taken into account.
User’s Manual
TwinCAN_X1, V2.1
22-79
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
22.2.4
Global CAN Control/Status Registers
The Receive Interrupt Pending Register indicates the pending receive interrupts for
message object n.
RXIPNDH
Receive Interrupt Pending Register High
RXIPNDL
Receive Interrupt Pending Register Low
15
14
13
12
11
10
9
8
Reset Value: 0000H
Reset Value: 0000H
7
6
5
4
3
2
1
0
5
4
3
2
1
0
RXIPNDn (n = 31-16)
rh
15
14
13
12
11
10
9
8
7
6
RXIPNDn (n = 15-0)
rh
Field
Bits
Type Description
RXIPNDn
(n = 15-0)
n
Low
rh
RXIPND
(n = 31-16)
n-16
High
User’s Manual
TwinCAN_X1, V2.1
Message Object n Receive Interrupt Pending
Bit RXIPNDn is set by hardware if message object n
received a frame and bit RXIEn has been set.
0
No receive is pending for message object n.
1
Receive is pending for message object n.
RXIPNDn can be cleared by software via resetting the
corresponding bit INTPNDn.
22-80
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
The Transmit Interrupt Pending Register indicates whether a transmit interrupt is
pending for message object n.
TXIPNDH
Transmit Interrupt Pending Register High
TXIPNDL
Transmit Interrupt Pending Register Low
15
14
13
12
11
10
9
8
Reset Value: 0000H
Reset Value: 0000H
7
6
5
4
3
2
1
0
5
4
3
2
1
0
TXIPNDn (n = 31-16)
rh
15
14
13
12
11
10
9
8
7
6
TXIPNDn (n = 15-0)
rh
Field
Bits
Type Description
TXIPNDn
(n = 15-0)
n
Low
rh
TXIPND
(n = 31-16)
n-16
High
User’s Manual
TwinCAN_X1, V2.1
Message Object n Transmit Interrupt Pending
Bit TXIPNDn is set by hardware if message object n
transmitted a frame and bit TXIEn has been set.
0
No transmit is pending for message object n.
1
Transmit is pending for message object n.
TXIPNDn can be cleared by software via resetting the
corresponding bit INTPNDn.
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TwinCAN Module
22.3
XC167 Module Implementation Details
This section describes:
•
•
the TwinCAN module related interfaces such as port connections and interrupt
control
all TwinCAN module related registers with its addresses and reset values
22.3.1
Interfaces of the TwinCAN Module
In XC167 the TwinCAN module is connected to IO ports according to Figure 22-28.
P4.4_rx
fCAN
MUX
RxDCA
Address
Decoder
Port 4
Control
P4.4
P4.6_tx
P4.5
P4.7_tx
P4.6
P4.7_rx
ALTSEL
P4.7
P7.4_rx
Port 7
Control
P7.4
TxDCA
CAN0INT TwinCAN
Module
CAN1INT (Kernel)
CAN2INT
Interrupt
Control
P4.5_rx
CAN3INT
P7.5_tx
P7.6_rx
TxDCB
P7.6
P7.7_tx
ALTSEL
CAN4INT
CAN5INT
CAN6INT
P7.5
MUX
P9.0_rx
RxDCB
CAN7INT
Port 9
Control
P9.1_tx
3
3
P9.0
P9.1
P9.2_rx
P9.2
P9.3_tx
PISEL
P7.7
ALTSEL
P9.3
MCA05498
Figure 22-28 TwinCAN Module IO Interface
The input receive pins can be selected by bitfield RISA (for node A) and bitfield RISB (for
node B) in the PISEL register. The output transmit pins are defined by the corresponding
ALTSEL registers of Port 4, Port 7, or Port 9.
The TwinCAN has eight interrupt request lines.
Note: The interrupt node of interrupt request 7 of the TwinCAN can be shared with the
SDLM module.
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TwinCAN_X1, V2.1
22-82
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
22.3.2
TwinCAN Module Related External Registers
Figure 22-29 shows the module related external registers which are required for
programming the TwinCAN module.
Port Registers
Interrupt Registers
System Registers
ALTSEL0P4
CAN_0IC
CAN_PISEL
DP4
CAN_1IC
ALTSEL0P7
CAN_2IC
DP7
CAN_3IC
ALTSEL0P9
CAN_4IC
DP9
CAN_5IC
CAN_6IC
CAN_7IC
MCA05499
Figure 22-29 TwinCAN Implementation Specific Registers
User’s Manual
TwinCAN_X1, V2.1
22-83
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
22.3.2.1 System Registers
Register CAN_PISEL allows the user to select the input pins for the two TwinCAN
receive signals RXDCA and RXDCB.
CAN_PISEL
TwinCAN Port Input Select Register
15
14
13
12
11
10
9
Reset Value: 0000H
8
7
6
5
4
3
2
1
0
RISB
RISA
r
rw
rw
0
Field
Bits
Type Description
RISA
[2:0]
rw
Receive Input Selection for Node A
Bitfield RISA defines the input pin for the TwinCAN
receive line RXDCA for node A.
000 The input pin for RXDCA is P4.5
001 The input pin for RXDCA is P4.7
010 The input pin for RXDCA is P7.6
011 The input pin for RXDCA is P9.2
1XX Reserved.
RISB
[5:3]
rw
Receive Input Selection for Node B
Bitfield RISB defines the input pin for the TwinCAN
receive line RXDCB for node B.
000 The input pin for RXDCB is P4.4
001 The input pin for RXDCB is P9.0
010 The input pin for RXDCB is P7.4
011 Reserved.
1XX Reserved.
0
[15:6]
r
Reserved; returns ‘0’ if read; should be written with
‘0’.
User’s Manual
TwinCAN_X1, V2.1
22-84
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
22.3.2.2 Port Registers
The port registers required to program to TwinCAN operation are listed as follows.
ALTSEL0P4
P4 Alternate Select Register 0
15
14
13
12
11
10
Reset Value: 0000H
9
8
7
6
5
4
3
2
0
P7
P6
0
r
rw
rw
r
1
0
Field
Bits
Type
Description
ALTSEL0
P4.y
6, 7
rw
P4 Alternate Select Register 0 bit y
0
associated peripheral output is not selected as
alternate function
1
associated peripheral output is selected as
alternate function
DP4
P4 Direction Ctrl. Register
15
14
13
12
11
Reset Value: 0000H
10
9
8
7
6
5
4
3
2
1
0
0
P7
P6
P5
P4
P3
P2
P1
P0
r
rw
rw
rw
rw
rw
rw
rw
rw
Field
Bits
Type
Description
DP4.y
7…4
rw
Port Direction Register DP4 Bit y
0
Port line P4.y is an input
(high-impedance)
1
Port line P4.y is an output
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TwinCAN_X1, V2.1
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
ALTSEL0P7
P7 Alternate Select Register 0
15
14
13
12
11
10
Reset Value: 0000H
9
8
7
6
5
4
3
2
1
0
P7
0
P5
0
0
r
rw
rw
rw
rw
r
0
Field
Bits
Type
Description
ALTSEL0
P7.y
7, 5
rw
P7 Alternate Select Register 0 Bit y
0
associated peripheral output is not selected as
alternate function
1
associated peripheral output is selected as
alternate function
DP7
P7 Direction Ctrl. Register
15
14
13
12
11
Reset Value: 0000H
10
9
8
7
6
5
4
3
0
P7
P6
P5
P4
0
r
rw
rw
rw
rw
r
Field
Bits
Type
Description
DP7.y
7…4
rw
Port Direction Register DP7 Bit y
0
Port line P7.y is an input
(high-impedance)
1
Port line P7.y is an output
2
1
0
Note: Shaded bits are not related to TwinCAN operation.
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TwinCAN_X1, V2.1
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Peripheral Units (Vol. 2 of 2)
TwinCAN Module
ALTSEL0P9
P9 Alternate Select Register 0
15
14
13
12
11
10
Reset Value: 0000H
9
8
7
6
5
4
3
2
1
0
0
0
0
P3
0
P1
0
r
rw
rw
rw
rw
rw
rw
Field
Bits
Type
Description
ALTSEL0
P9.y
3, 1
rw
P9 Alternate Select Register 0 Bit y
0
associated peripheral output is not selected as
alternate function
1
associated peripheral output is selected as
alternate function
ALTSEL1P9
P9 Alternate Select Register 1
15
14
13
12
11
10
Reset Value: 0000H
9
8
7
6
5
4
3
2
1
0
0
0
0
P3
0
P1
0
r
rw
rw
rw
rw
rw
rw
Field
Bits
Type
Description
ALTSEL1
P9.y
3, 1
rw
P9 Alternate Select Register 1 Bit y
0
associated peripheral output is not selected as
alternate function
1
associated peripheral output is selected as
alternate function
User’s Manual
TwinCAN_X1, V2.1
22-87
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
DP9
P9 Direction Ctrl. Register
15
14
13
12
11
Reset Value: 0000H
10
9
8
7
6
5
4
3
2
1
0
0
P5
P4
P3
P2
P1
P0
r
rw
rw
rw
rw
rw
rw
Field
Bits
Type
Description
DP9.y
3…0
rw
Port Direction Register DP9 Bit y
0
Port line P9.y is an input (high-impedance)
1
Port line P9.y is an output
Note: Shaded bits are not related to TwinCAN operation.
User’s Manual
TwinCAN_X1, V2.1
22-88
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
Table 22-9 shows the required register setting to configure the IO lines of the TwinCAN
module for operation.
Table 22-9
Port Lines
TwinCAN IO Selection and Setup
Alternate Select
Register
Port Input Select
Register
Direction
Control
Register
IO
TwinCAN Node A
P4.5 / RxDCA
–
CAN_PISEL[2:0] =
000
DP4.P5 = 0
Input
P4.6 / TxDCA
ALTSEL0P4.P6 = 1
–
DP4.P6 = 1
Output
P4.7 / RxDCA
–
CAN_PISEL[2:0] =
001
DP4.P7 = 0
Input
P7.6 / RxDCA
–
CAN_PISEL[2:0] =
010
DP7.P6 = 0
Input
P7.7 / TxDCA
ALTSEL0P7.P7 = 1
–
DP7.P7 = 1
Output
P9.2 / RxDCA
–
CAN_PISEL[2:0] =
011
DP9.P2 = 0
Input
P9.3 / TxDCA
ALTSEL0P9.P3 = 1
and
ALTSEL1P9.P3 =1
–
DP9.P3 = 1
Output
TwinCAN Node B
P4.4 / RxDCB
–
CAN_PISEL[5:3] =
000
DP4.P4 = 0
Input
P4.7 / TxDCB
ALTSEL0P4.P7 = 1
–
DP4.P7 = 1
Output
P7.4 / RxDCB
–
CAN_PISEL[5:3] =
010
DP7.P4 = 0
Input
P7.5 / TxDCB
ALTSEL0P7.P5 = 1
–
DP7.P5 = 1
Output
P9.0 / RxDCB
–
CAN_PISEL[5:3] =
001
DP9.P0 = 0
Input
P9.1 / TxDCB
ALTSEL0P9.P1 = 1
and
ALTSEL1P9.P1 =1
–
DP9.P1 = 1
Output
Note: The ALTSEL1 registers of Port 7 and Port 4 are ‘don’t care’ for selecting the
TwinCAN alternate output function.
User’s Manual
TwinCAN_X1, V2.1
22-89
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
22.3.2.3 Interrupt Registers
The interrupts of the TwinCAN module are controlled by the following interrupt control
registers:
•
•
•
•
•
•
•
•
CAN_0IC
CAN_1IC
CAN_2I
CAN_3I
CAN_4I
CAN_5IC
CAN_6IC
CAN_7IC
All interrupt control registers have the same structure. Refer to the System Units for its
description and also details on interrupt handling and processing.
User’s Manual
TwinCAN_X1, V2.1
22-90
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
TwinCAN Module
22.3.3
Register Table
Table 22-10 shows the system registers related to the TwinCAN module. It summarizes
the addresses and reset values. In order to simplify the kernel description, the prefix
‘CAN_’ is added only in this register list.
The start address for the TwinCAN module is 20’0000H, the register offsets (relative to
this address) are given in the TwinCAN kernel description. See Figure 22-27. A full
register listing of all CAN registers is provided in register table section and in the system
book.
Table 22-10 TwinCAN Module Register Summary
Name
Address1)
Description
16-Bit
Reset
Value
TwinCAN Module System Registers
CAN_PISEL
TwinCAN Port Input Select Register
20’0004H
0000H
CAN_0IC
TwinCAN Interrupt Control Register for the
CAN interrupt node 0.
F196H
0000H
CAN_1IC
TwinCAN Interrupt Control Register for the
CAN interrupt node 1.
F142H
0000H
CAN_2IC
TwinCAN Interrupt Control Register for the
CAN interrupt node 2.
F144H
0000H
CAN_3IC
TwinCAN Interrupt Control Register for the
CAN interrupt node 3.
F146H
0000H
CAN_4IC
TwinCAN Interrupt Control Register for the
CAN interrupt node 4.
F148H
0000H
CAN_5IC
TwinCAN Interrupt Control Register for the
CAN interrupt node 5.
F14AH
0000H
CAN_6IC
TwinCAN Interrupt Control Register for the
CAN interrupt node 6.
F14CH
0000H
CAN_7IC
TwinCAN Interrupt Control Register for the
CAN interrupt node 7.
F14EH
0000H
1) The 8-bit short addresses are not available for the TwinCAN module kernel registers.
User’s Manual
TwinCAN_X1, V2.1
22-91
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
23
Register Set
This chapter summarizes all the kernel and module related external registers of the
peripherals. The register list is organized into two parts - the first for PD+BUS peripherals
and the second for LXBUS peripherals.
23.1
PD+BUS Peripherals
Note: The address space for PD+BUS peripherals is assigned to Segment 0.
Table 23-1
PD+BUS Register Listing
Short Name
Address
Physical 8-bit
Description
Reset
Value
Area
Asynchronous/Synchronous Serial Interface 0 (ASC0)
ASC0_CON
FFB0H
D8H
SFR
ASC0 Control Register
0000H
ASC0_TBUF
FEB0H
58H
SFR
ASC0 Transmit Buffer Register
0000H
ASC0_RBUF
FEB2H
59H
SFR
ASC0 Receive Buffer Register
0000H
ASC0_
ABCON
F1B8H
DCH
ESFR ASC0 Autobaud Control Register
0000H
ASC0_
ABSTAT
F0B8H
5CH
ESFR ASC0 Autobaud Status Register
0000H
ASC0_BG
FEB4H
5AH
SFR
ASC0 Baud Rate Generator
Reload Register
0000H
ASC0_FDV
FEB6H
5BH
SFR
ASC0 Fractional Divider Register
0000H
ASC0_PMW
FEAAH
55H
SFR
ASC0 IrDA Pulse Mode and Width 0000H
Register
ASC0_
RXFCON
F0C6H
63H
ESFR ASC0 Receive FIFO Control
Register
0000H
ASC0_
TXFCON
F0C4H
62H
ESFR ASC0 Transmit FIFO Control
Register
0000H
ASC0_FSTAT F0BAH
5DH
ESFR ASC0 FIFO Status Register
0000H
Asynchronous/Synchronous Serial Interface 1 (ASC1)
ASC1_CON
FFB8H
DCH
SFR
ASC1 Control Register
0000H
ASC1_TBUF
FEB8H
5CH
SFR
ASC1 Transmit Buffer Register
0000H
ASC1_RBUF
FEBAH
5DH
SFR
ASC1 Receive Buffer Register
0000H
ASC1_
ABCON
F1BCH
DEH
ESFR ASC1 Autobaud Control Register
User’s Manual
RegSet_X7, V2.0
23-1
0000H
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-1
PD+BUS Register Listing (cont’d)
Short Name
Address
Description
Physical 8-bit
Area
Reset
Value
ASC1_
ABSTAT
F0BCH
5EH
ESFR ASC1 Autobaud Status Register
0000H
ASC1_BG
FEBCH
5EH
SFR
ASC1 Baud Rate Generator
Reload Register
0000H
ASC1_FDV
FEBEH
5FH
SFR
ASC1 Fractional Divider Register
0000H
ASC1_PMW
FEACH
56H
SFR
ASC1 IrDA Pulse Mode and Width 0000H
Register
ASC1_
RXFCON
F0A6H
53H
ESFR ASC1 Receive FIFO Control
Register
0000H
ASC1_
TXFCON
F0A4H
52H
ESFR ASC1 Transmit FIFO Control
Register
0000H
ASC1_FSTAT F0BEH
5FH
ESFR ASC1 FIFO Status Register
0000H
Synchronous Serial Channel 0 (SSC0)
SSC0_CON
FFB2H
D9H
SFR
SSC0 Control Register
0000H
SSC0_BR
F0B4H
5AH
ESFR SSC0 Baudrate Timer Reload
Register
0000H
SSC0_TB
F0B0H
58H
ESFR SSC0 Transmit Buffer Reg.
0000H
SSC0_RB
F0B2H
59H
ESFR SSC0 Receive Buffer Reg.
0000H
Synchronous Serial Channel 1 (SSC1)
SSC1_CON
FF5EH
AFH
SFR
SSC1 Control Register
0000H
SSC1_BR
F05EH
2FH
ESFR SSC1 Baudrate Timer Reload
Register
0000H
SSC1_TB
F05AH
2DH
ESFR SSC1 Transmit Buffer Reg.
0000H
SSC1_RB
F05CH
2EH
ESFR SSC1 Receive Buffer Reg.
0000H
General Purpose Timer Unit (GPT12E)
GPT12E_
T2CON
FF40H
A0H
SFR
GPT12E Timer 2 Control Register
0000H
GPT12E_
T3CON
FF42H
A1H
SFR
GPT12E Timer 3 Control Register
0000H
GPT12E_
T4CON
FF44H
A2H
SFR
GPT12E Timer 4 Control Register
0000H
User’s Manual
RegSet_X7, V2.0
23-2
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-1
PD+BUS Register Listing (cont’d)
Short Name
Address
Description
Reset
Value
Physical 8-bit
Area
GPT12E_
T5CON
FF46H
A3H
SFR
GPT12E Timer 5 Control Register
0000H
GPT12E_
T6CON
FF48H
A4H
SFR
GPT12E Timer 6 Control Register
0000H
GPT12E_
CAPREL
FE4AH
25H
SFR
GPT12E Capture/Reload Register 0000H
GPT12E_T2
FE40H
20H
SFR
GPT12E Timer 2 Register
0000H
GPT12E_T3
FE42H
21H
SFR
GPT12E Timer 3 Register
0000H
GPT12E_T4
FE44H
22H
SFR
GPT12E Timer 4 Register
0000H
GPT12E_T5
FE46H
23H
SFR
GPT12E Timer 5 Register
0000H
GPT12E_T6
FE48H
24H
SFR
GPT12E Timer 6 Register
0000H
Real Time Clock (RTC)
RTC_CON
F110H
88H
ESFR RTC Control Register, low word
8003H
RTC_T14
F0D2H
69H
ESFR Timer 14 Register
UUUUH
RTC_T14REL F0D0H
68H
ESFR Timer 14 Reload Register
UUUUH
RTC_RTCL
F0D4H
6AH
ESFR RTC Timer Low Register
UUUUH
RTC_RTCH
F0D6H
6BH
ESFR RTC Timer High Register
UUUUH
RTC_RELL
F0CCH
66H
ESFR RTC Reload Low Register
0000H
RTC_RELH
F0CEH
67H
ESFR RTC Reload High Register
0000H
RTC_ISNC
F10CH
86H
ESFR RTC Interrupt Subnode Register
0000H
Capture/Compare Unit 1 (CAPCOM1)
CC1_M0
FF52H
A9H
SFR
CAPCOM1 Mode Control Register 0000H
0
CC1_M1
FF54H
AAH
SFR
CAPCOM1 Mode Control Register 0000H
1
CC1_M2
FF56H
ABH
SFR
CAPCOM1 Mode Control Register 0000H
2
CC1_M3
FF58H
ACH
SFR
CAPCOM1 Mode Control Register 0000H
3
CC1_SEE
FE2EH
17H
SFR
CAPCOM1 Single Event Enable
Register
User’s Manual
RegSet_X7, V2.0
23-3
0000H
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-1
PD+BUS Register Listing (cont’d)
Short Name
Address
Description
Reset
Value
0000H
Physical 8-bit
Area
CC1_SEM
FE2CH
16H
SFR
CAPCOM1 Single Event Mode
Register
CC1_DRM
FF5AH
ADH
SFR
CAPCOM1 Double Register Mode 0000H
Register
CC1_OUT
FF5CH
AEH
SFR
CAPCOM1 Output Register
0000H
CC1_T0
FE50H
28H
SFR
CAPCOM1 Timer 0 Register
0000H
CC1_T0REL
FE54H
2AH
SFR
CAPCOM1 Timer 0 Reload
Register
0000H
CC1_T1
FE52H
29H
SFR
CAPCOM1 Timer 1 Register
0000H
CC1_T1REL
FE56H
2BH
SFR
CAPCOM1 Timer 1 Reload
Register
0000H
CC1_T01CON FF50H
A8H
SFR
CAPCOM1 Timer 0 and Timer 1
Control Register
0000H
CC1_IOC
F062H
31H
ESFR CAPCOM1 I/O Control Register
0000H
CC1_CC0
FE80H
40H
SFR
CAPCOM1 Register 0
0000H
CC1_CC1
FE82H
41H
SFR
CAPCOM1 Register 1
0000H
CC1_CC2
FE84H
42H
SFR
CAPCOM1 Register 2
0000H
CC1_CC3
FE86H
43H
SFR
CAPCOM1 Register 3
0000H
CC1_CC4
FE88H
44H
SFR
CAPCOM1 Register 4
0000H
CC1_CC5
FE8AH
45H
SFR
CAPCOM1 Register 5
0000H
CC1_CC6
FE8CH
46H
SFR
CAPCOM1 Register 6
0000H
CC1_CC7
FE8EH
47H
SFR
CAPCOM1 Register 7
0000H
CC1_CC8
FE90H
48H
SFR
CAPCOM1 Register 8
0000H
CC1_CC9
FE92H
49H
SFR
CAPCOM1 Register 9
0000H
CC1_CC10
FE94H
4AH
SFR
CAPCOM1 Register 10
0000H
CC1_CC11
FE96H
4BH
SFR
CAPCOM1 Register 11
0000H
CC1_CC12
FE98H
4CH
SFR
CAPCOM1 Register 12
0000H
CC1_CC13
FE9AH
4DH
SFR
CAPCOM1 Register 13
0000H
CC1_CC14
FE9CH
4EH
SFR
CAPCOM1 Register 14
0000H
CC1_CC15
FE9EH
4FH
SFR
CAPCOM1 Register 15
0000H
User’s Manual
RegSet_X7, V2.0
23-4
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-1
PD+BUS Register Listing (cont’d)
Short Name
Address
Physical 8-bit
Description
Reset
Value
Area
Capture / Compare Unit 2 (CAPCOM2)
CC2_M4
FF22H
91H
SFR
CAPCOM2 Mode Control Register 0000H
4
CC2_M5
FF24H
92H
SFR
CAPCOM2 Mode Control Register 0000H
5
CC2_M6
FF26H
93H
SFR
CAPCOM2 Mode Control Register 0000H
6
CC2_M7
FF28H
94H
SFR
CAPCOM2 Mode Control Register 0000H
7
CC2_SEE
FE2AH
15H
SFR
CAPCOM2 Single Event Enable
Register
0000H
CC2_SEM
FE28H
14H
SFR
CAPCOM2 Single Event Mode
Register
0000H
CC2_DRM
FF2AH
95H
SFR
CAPCOM2 Double Register Mode 0000H
Register
CC2_OUT
FF2CH
96H
SFR
CAPCOM2 Output Register
CC2_T7
F050H
28H
ESFR CAPCOM2 Timer 7 Register
0000H
CC2_T8
F052H
29H
ESFR CAPCOM2 Timer 8 Register
0000H
CC2_T7REL
F054H
2AH
ESFR CAPCOM2 Timer 7 Reload
Register
0000H
CC2_T8REL
F056H
2BH
ESFR CAPCOM2 Timer 8 Reload
Register
0000H
CC2_T78CON FF20H
90H
SFR
CAPCOM2 Timer 7 and Timer 8
Control Register
0000H
CC2_IOC
F066H
33H
ESFR CAPCOM2 I/O Control Register
0000H
CC2_CC16
FE60H
30H
SFR
CAPCOM2 Register 16
0000H
CC2_CC17
FE62H
31H
SFR
CAPCOM2 Register 17
0000H
CC2_CC18
FE64H
32H
SFR
CAPCOM2 Register 18
0000H
CC2_CC19
FE66H
33H
SFR
CAPCOM2 Register 19
0000H
CC2_CC20
FE68H
34H
SFR
CAPCOM2 Register 20
0000H
CC2_CC21
FE6AH
35H
SFR
CAPCOM2 Register 21
0000H
CC2_CC22
FE6CH
36H
SFR
CAPCOM2 Register 22
0000H
User’s Manual
RegSet_X7, V2.0
23-5
0000H
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-1
PD+BUS Register Listing (cont’d)
Short Name
Address
Description
Reset
Value
Physical 8-bit
Area
CC2_CC23
FE6EH
37H
SFR
CAPCOM2 Register 23
0000H
CC2_CC24
FE70H
38H
SFR
CAPCOM2 Register 24
0000H
CC2_CC25
FE72H
39H
SFR
CAPCOM2 Register 25
0000H
CC2_CC26
FE74H
3AH
SFR
CAPCOM2 Register 26
0000H
CC2_CC27
FE76H
3BH
SFR
CAPCOM2 Register 27
0000H
CC2_CC28
FE78H
3CH
SFR
CAPCOM2 Register 28
0000H
CC2_CC29
FE7AH
3DH
SFR
CAPCOM2 Register 29
0000H
CC2_CC30
FE7CH
3EH
SFR
CAPCOM2 Register 30
0000H
CC2_CC31
FE7EH
3FH
SFR
CAPCOM2 Register 31
0000H
Capture / Compare Unit 6 (CCU6)
E890H
–
IO
Timer 12 Counter Register
0000H
CCU6_T12PR E892H
–
IO
Timer 12 Period Register
0000H
CCU6_
T12DTC
E894H
–
IO
Dead-Time Control Register for
Timer 12
0000H
CCU6_CC60R E898H
–
IO
Capture/Compare Register (Ch. 0) 0000H
CCU6_CC61R E89AH
–
IO
Capture/Compare Register (Ch. 1) 0000H
CCU6_CC62R E89CH
–
IO
Capture/Compare Register (Ch. 2) 0000H
CCU6_
CC60SR
E8A0H
–
IO
Capture/Compare Shadow
Register (Ch. 0)
0000H
CCU6_
CC61SR
E8A2H
–
IO
Capture/Compare Shadow
Register (Ch. 1)
0000H
CCU6_
CC62SR
E8A4H
–
IO
Capture/Compare Shadow
Register (Ch. 2)
0000H
CCU6_T13
E8B0H
–
IO
Timer 13 Counter Register
0000H
CCU6_T13PR E8B2H
–
IO
Timer 13 Period Register
0000H
CCU6_CC63R E8B4H
–
IO
Compare Register for Timer 13
0000H
CCU6_
CC63SR
E8B6H
–
IO
Compare Shadow Register for
Timer 13
0000H
CCU6_
CMPSTAT
E8A8H
–
IO
Compare State Register
0000H
CCU6_T12
User’s Manual
RegSet_X7, V2.0
23-6
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-1
PD+BUS Register Listing (cont’d)
Short Name
Address
Description
Reset
Value
Physical 8-bit
Area
E8AAH
–
IO
Compare State Modification
Register
0000H
CCU6_TCTR0 E8ACH
–
IO
Timer Control Register 0
0000H
CCU6_TCTR2 E8AEH
–
IO
Timer Control Register 2
0000H
CCU6_TCTR4 E8A6H
–
IO
Timer Control Register 4
0000H
CCU6_
MODCTR
E8C0H
–
IO
Modulation Control Register
0000H
CCU6_
TRPCTR
E8C2H
–
IO
Trap Control Register
0000H
CCU6_PSLR
E8C4H
–
IO
Passive State Level Register
0000H
CCU6_
T12MSEL
E8C6H
–
IO
T12 Capture/Compare Mode
Select Register
0000H
CCU6_
MCMOUTS
E8CAH
–
IO
Multi-Channel Mode Output
Shadow Register
0000H
CCU6_
MCMOUT
E8CCH
–
IO
Multi-Channel Mode Output
Register
0000H
CCU6_
MCMCTR
E8CEH
–
IO
Multi-Channel Mode Control
Register
0000H
CCU6_IS
E8D0H
–
IO
Capture/Compare Interrupt Status 0000H
Register
CCU6_ISS
E8D2H
–
IO
Capture/Compare Interrupt Status 0000H
Set Register
CCU6_ISR
E8D4H
–
IO
Capture/Compare Interrupt Status 0000H
Reset Register
CCU6_INP
E8D6H
–
IO
Capture/Compare Interrupt Node
Pointer Register
3940H
CCU6_IEN
E8D8H
–
IO
Capture/Compare Interrupt Node
Pointer Register
0000H
CCU6_
CMPMODIF
A/D Converter (ADC)
ADC_CON
FFA0H
D0H
SFR
A/D Converter Control Register
0000H
ADC_CON1
FFA6H
D3H
SFR
A/D Converter Control Register
0000H
ADC_CTR0
FFBEH
DFH
SFR
A/D Converter Control Register 0
1000H
User’s Manual
RegSet_X7, V2.0
23-7
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-1
PD+BUS Register Listing (cont’d)
Short Name
Physical 8-bit
Area
Reset
Value
F09CH
4EH
ESFR A/D Converter Control Register 2
0000H
ADC_CTR2IN F09EH
4FH
ESFR A/D Converter Injection Control
Register 2
0000H
ADC_DAT
FEA0H
50H
SFR
0000H
ADC_DAT2
F0A0H
50H
ESFR A/D Converter 2 Result Register
0000H
IIC_ST
E604H
–
IO
IIC Status Register
0000H
IIC_CON
E602H
–
IO
IIC Control Register
0000H
IIC_CFG
E600H
–
IO
IIC Configuration Register
0000H
IIC_ADR
E606H
–
IO
IIC Address Register
0000H
IIC_RTBL
E608H
–
IO
IIC Receive/Transmit Buffer Low
Register
0000H
IIC_RTBH
E60AH
–
IO
IIC Receive/Transmit Buffer High
Register
0000H
ADC_CTR2
Address
Description
A/D Converter Result Register
IIC Module
User’s Manual
RegSet_X7, V2.0
23-8
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-1
PD+BUS Register Listing (cont’d)
Short Name
Address
Physical 8-bit
Description
Reset
Value
Area
Interrupt Control
SSC0_TIC
FF72H
B9H
SFR
SSC0 Transmit Interrupt Control
Register
0000H
SSC0_RIC
FF74H
BAH
SFR
SSC0 Receive Interrupt Control
Register
0000H
SSC0_EIC
FF76H
BBH
SFR
SSC0 Error Interrupt Control
Register
0000H
SSC1_TIC
F1AAH
D5H
ESFR SSC1 Transmit Interrupt Control
Register
0000H
SSC1_RIC
F1ACH
D6H
SFR
0000H
SSC1_EIC
F1AEH
D7H
ESFR SSC1 Error Interrupt Control
Register
0000H
ASC0_TIC
FF6CH
B6H
SFR
ASC0 Transmit Interrupt Control
Register
0000H
ASC0_RIC
FF6EH
B7H
SFR
ASC0 Receive Interrupt Control
Register
0000H
ASC0_EIC
FF70H
B8H
SFR
ASC0 Error Interrupt Control
Register
0000H
ASC0_TBIC
F19CH
CEH
ESFR ASC0 Transmit Buffer Interrupt
Control Register
0000H
ASC0_ABIC
F15CH
AEH
ESFR ASC0 Autobaud Interrupt Control
Register
0000H
ASC1_TIC
F182H
C1H
ESFR ASC1 Transmit Interrupt Control
Register
0000H
ASC1_RIC
F18AH
C5H
ESFR ASC1 Receive Interrupt Control
Register
0000H
ASC1_EIC
F192H
C9H
ESFR ASC1 Error Interrupt Control
Register
0000H
ASC1_TBIC
F150H
A8H
ESFR ASC1 Transmit Buffer Interrupt
Control Register
0000H
ASC1_ABIC
F1BAH
DDH
ESFR ASC1 Autobaud Interrupt Control
Register
0000H
User’s Manual
RegSet_X7, V2.0
SSC1 Receive Interrupt Control
Register
23-9
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-1
PD+BUS Register Listing (cont’d)
Short Name
Address
Description
Reset
Value
Physical 8-bit
Area
GPT12E_
T2IC
FF60H
B0H
SFR
GPT12E Timer 2 Interrupt Control 0000H
Register
GPT12E_
T3IC
FF62H
B1H
SFR
GPT12E Timer 3 Interrupt Control 0000H
Register
GPT12E_
T4IC
FF64H
B2H
SFR
GPT12E Timer 4 Interrupt Control 0000H
Register
GPT12E_
T5IC
FF66H
B3H
SFR
GPT12E Timer 5 Interrupt Control 0000H
Register
GPT12E_
T6IC
FF68H
B4H
SFR
GPT12E Timer 6 Interrupt Control 0000H
Register
GPT12E_
CRIC
FF6AH
B5H
SFR
GPT12E CAPREL Interrupt
Control Register
CC1_T0IC
FF9CH
CEH
SFR
CAPCOM Timer 0 Interrupt Control 0000H
Register
CC1_T1IC
FF9EH
CFH
SFR
CAPCOM Timer 1 Interrupt Control 0000H
Register
CC2_T7IC
F17AH
BDH
ESFR CAPCOM Timer 7 Interrupt Control 0000H
Register
CC2_T8IC
F17CH
BEH
ESFR CAPCOM Timer 8 Interrupt Control 0000H
Register
CC1_CC0IC
FF78H
BCH
SFR
CAPCOM Register 0 Interrupt
Control Register
0000H
CC1_CC1IC
FF7AH
BDH
SFR
CAPCOM Register 1 Interrupt
Control Register
0000H
CC1_CC2IC
FF7CH
BEH
SFR
CAPCOM Register 2 Interrupt
Control Register
0000H
CC1_CC3IC
FF7EH
BFH
SFR
CAPCOM Register 3 Interrupt
Control Register
0000H
CC1_CC4IC
FF80H
C0H
SFR
CAPCOM Register 4 Interrupt
Control Register
0000H
CC1_CC5IC
FF82H
C1H
SFR
CAPCOM Register 5 Interrupt
Control Register
0000H
User’s Manual
RegSet_X7, V2.0
23-10
0000H
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-1
PD+BUS Register Listing (cont’d)
Short Name
Address
Description
Reset
Value
Physical 8-bit
Area
CC1_CC6IC
FF84H
C2H
SFR
CAPCOM Register 6 Interrupt
Control Register
0000H
CC1_CC7IC
FF86H
C3H
SFR
CAPCOM Register 7 Interrupt
Control Register
0000H
CC1_CC8IC
FF88H
C4H
SFR
CAPCOM Register 8 Interrupt
Control Register
0000H
CC1_CC9IC
FF8AH
C5H
SFR
CAPCOM Register 9 Interrupt
Control Register
0000H
CC1_CC10IC
FF8CH
C6H
SFR
CAPCOM Register 10 Interrupt
Control Register
0000H
CC1_CC11IC
FF8EH
C7H
SFR
CAPCOM Register 11 Interrupt
Control Register
0000H
CC1_CC12IC
FF90H
C8H
SFR
CAPCOM Register 12 Interrupt
Control Register
0000H
CC1_CC13IC
FF92H
C9H
SFR
CAPCOM Register 13 Interrupt
Control Register
0000H
CC1_CC14IC
FF94H
CAH
SFR
CAPCOM Register 14 Interrupt
Control Register
0000H
CC1_CC15IC
FF96H
CBH
SFR
CAPCOM Register 15 Interrupt
Control Register
0000H
CC2_CC16IC
F160H
B0H
ESFR CAPCOM Register 16 Interrupt
Control Register
0000H
CC2_CC17IC
F162H
B1H
ESFR CAPCOM Register 17 Interrupt
Control Register
0000H
CC2_CC18IC
F164H
B2H
ESFR CAPCOM Register 18 Interrupt
Control Register
0000H
CC2_CC19IC
F166H
B3H
ESFR CAPCOM Register 19 Interrupt
Control Register
0000H
CC2_CC20IC
F168H
B4H
ESFR CAPCOM Register 20 Interrupt
Control Register
0000H
CC2_CC21IC
F16AH
B5H
ESFR CAPCOM Register 21 Interrupt
Control Register
0000H
User’s Manual
RegSet_X7, V2.0
23-11
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-1
PD+BUS Register Listing (cont’d)
Short Name
Address
Description
Reset
Value
Physical 8-bit
Area
CC2_CC22IC
F16CH
B6H
ESFR CAPCOM Register 22 Interrupt
Control Register
0000H
CC2_CC23IC
F16EH
B7H
ESFR CAPCOM Register 23 Interrupt
Control Register
0000H
CC2_CC24IC
F170H
B8H
ESFR CAPCOM Register 24 Interrupt
Control Register
0000H
CC2_CC25IC
F172H
B9H
ESFR CAPCOM Register 25 Interrupt
Control Register
0000H
CC2_CC26IC
F174H
BAH
ESFR CAPCOM Register 26 Interrupt
Control Register
0000H
CC2_CC27IC
F176H
BBH
ESFR CAPCOM Register 27 Interrupt
Control Register
0000H
CC2_CC28IC
F178H
BCH
ESFR CAPCOM Register 28 Interrupt
Control Register
0000H
CC2_CC29IC
F184H
C2H
ESFR CAPCOM Register 29 Interrupt
Control Register
0000H
CC2_CC30IC
F18CH
C6H
ESFR CAPCOM Register 30 Interrupt
Control Register
0000H
CC2_CC31IC
F194H
CAH
ESFR CAPCOM Register 31 Interrupt
Control Register
0000H
CCU6_IC
F140H
A0H
ESFR Interrupt Control Register for other 0000H
Interrupts (module intr. node I3)
CCU6_EIC
F188H
C4H
ESFR Interrupt Control Register for
Emergency Interrupts
(module intr. node I2)
0000H
CCU6_T12IC
F190H
C8H
ESFR Interrupt Control Register for T12
Interrupts (module intr. node I0)
0000H
CCU6_T13IC
F198H
CCH
ESFR Interrupt Control Register for T13
Interrupts (module intr. node I1)
0000H
ADC_CIC
FF98H
CCH
SFR
A/D Converter End of Conversion
Interrupt Control Register
0000H
ADC_EIC
FF9AH
CDH
SFR
A/D Converter Overrun Error
Interrupt Control Register
0000H
User’s Manual
RegSet_X7, V2.0
23-12
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-1
PD+BUS Register Listing (cont’d)
Short Name
Address
Description
Reset
Value
Physical 8-bit
Area
IIC_DIC
F186H
C3H
ESFR IIC Data Transfer Event
Interrupt Control Register
0000H
IIC_PEIC
F18EH
C7H
ESFR IIC Protocol Event
Interrupt Control Register
0000H
CAN_0IC
F196H
CBH
ESFR TwinCAN Interrupt Control
Register 0
0000H
CAN_1IC
F142H
A1H
ESFR TwinCAN Interrupt Control
Register 1
0000H
CAN_2IC
F144H
A2H
ESFR TwinCAN Interrupt Control
Register 2
0000H
CAN_3IC
F146H
A3H
ESFR TwinCAN Interrupt Control
Register 3
0000H
CAN_4IC
F148H
A4H
ESFR TwinCAN Interrupt Control
Register 4
0000H
CAN_5IC
F14AH
A5H
ESFR TwinCAN Interrupt Control
Register 5
0000H
CAN_6IC
F14CH
A6H
ESFR TwinCAN Interrupt Control
Register 6
0000H
CAN_7IC
F14EH
A7H
ESFR TwinCAN Interrupt Control
Register 7
0000H
EOPIC
F180H
C0H
ESFR End of PEC Subchannel Interrupt
Control Register
0000H
PLL_IC
F19EH
CFH
ESFR PLL Interrupt Control Register
0000H
RTC_IC
F1A0H
D0H
ESFR RTC Interrupt Control Register
0000H
PICON
F1C4H
E2H
ESFR Port Input Threshold Control
Register
0000H
POCON0L
F080H
40H
ESFR P0L Output Control Register
0000H
POCON0H
F082H
41H
ESFR P0H Output Control Register
0000H
POCON1L
F084H
42H
ESFR P1L Output Control Register
0000H
POCON1H
F086H
43H
ESFR P1H Output Control Register
0000H
POCON2
F088H
44H
ESFR P2 Output Control Register
0000H
Ports
User’s Manual
RegSet_X7, V2.0
23-13
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-1
PD+BUS Register Listing (cont’d)
Short Name
Physical 8-bit
Area
Reset
Value
POCON3
F08AH
45H
ESFR P3 Output Control Register
0000H
POCON4
F08CH
46H
ESFR P4 Output Control Register
0000H
POCON6
F08EH
47H
ESFR P6 Output Control Register
0000H
POCON7
F090H
48H
ESFR P7 Output Control Register
0000H
POCON9
F094H
4AH
ESFR P9 Output Control Register
0000H
POCON20
F0AAH
55H
ESFR P20 Output Control Register
0000H
P0L
FF00H
80H
SFR
PORT0 Low Register
0000H
P0H
FF02H
81H
SFR
PORT0 High Register
0000H
DP0L
F100H
80H
ESFR P0L Direction Control Register
0000H
DP0H
F102H
81H
ESFR P0H Direction Control Register
0000H
P1L
FF04H
82H
SFR
PORT1 Low Register
0000H
P1H
FF06H
83H
SFR
PORT1 High Register
0000H
DP1L
F104H
82H
ESFR P1L Direction Control Register
0000H
DP1H
F106H
83H
ESFR P1H Direction Control Register
0000H
ALTSEL0P1L
F130H
98H
ESFR P1L Alternate Select Register 0
0000H
ALTSEL0P1H F120H
90H
ESFR P1H Alternate Select Register 0
0000H
P2
FFC0H
E0H
SFR
Port 2 Data Register
0000H
DP2
FFC2H
E1H
SFR
P2 Direction Control Register
0000H
ODP2
F1C2H
E1H
ESFR P2 Open Drain Control Register
0000H
ALTSEL0P2
F122H
91H
ESFR P2 Alternate Select Register 0
0000H
P3
FFC4H
E2H
SFR
Port 3 Data Register
0000H
DP3
FFC6H
E3H
SFR
P3 Direction Control Register
0000H
ODP3
F1C6H
E3H
ESFR P3 Open Drain Control Register
0000H
ALTSEL0P3
F126H
93H
ESFR P3 Alternate Select Register 0
0000H
ALTSEL1P3
F128H
94H
ESFR P3 Alternate Select Register 1
0000H
P4
FFC8H
E4H
SFR
Port 4 Data Register
0000H
DP4
FFCAH
E5H
SFR
P4 Direction Control Register
0000H
ODP4
F1CAH
E5H
ESFR P4 Open Drain Control Register
0000H
ALTSEL0P4
F12AH
95H
ESFR P4 Alternate Select Register 0
0000H
User’s Manual
RegSet_X7, V2.0
Address
Description
23-14
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-1
PD+BUS Register Listing (cont’d)
Short Name
Physical 8-bit
Area
Reset
Value
ALTSEL1P4
F136H
9BH
ESFR P4 Alternate Select Register 1
0000H
P5
FFA2H
D1H
SFR
Port 5 Data Register
0000H
P5DIDIS
FFA4H
D2H
SFR
Port 5 Digital Input Disable
Register
0000H
P6
FFCCH
E6H
SFR
Port 6 Data Register
0000H
DP6
FFCEH
E7H
SFR
P6 Direction Control Register
0000H
ODP6
F1CEH
E7H
ESFR P6 Open Drain Control Register
0000H
ALTSEL0P6
F12CH
96H
ESFR P6 Alternate Select Register 0
0000H
P7
FFD0H
E8H
SFR
Port 7 Data Register
0000H
DP7
FFD2H
E9H
SFR
P7 Direction Control Register
0000H
ODP7
F1D2H
E9H
ESFR P7 Open Drain Control Register
0000H
ALTSEL0P7
F13CH
9EH
ESFR P7 Alternate Select Register 0
0000H
ALTSEL1P7
F13EH
9FH
ESFR P7 Alternate Select Register 1
0000H
P9
FF16H
8BH
SFR
Port 9 Data Register
0000H
DP9
FF18H
8CH
SFR
P9 Direction Control Register
0000H
ODP9
FF1AH
8DH
SFR
P9 Open Drain Control Register
0000H
ALTSEL0P9
F138H
9CH
ESFR P9 Alternate Select Register 0
0000H
ALTSEL1P9
F13AH
9DH
ESFR P9 Alternate Select Register 1
0000H
P20
FFB4H
DAH
SFR
Port 20 Data Register
0000H
DP20
FFB6H
DBH
SFR
P20 Direction Control Register
0000H
User’s Manual
RegSet_X7, V2.0
Address
Description
23-15
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
23.2
LXBUS Peripherals
Note: The address space for LXBUS peripherals is assigned to Segment 32; it may be
changed by user SW.
Table 23-2
LXBUS Register Listing
Short Name
Physical
Address
Description
Reset
Value
CAN_PISEL
20’0004H
TwinCAN Port Input Select Register
0000H
CAN_ACR
20’0200H
Node A Control Register
0001H
CAN_ASR
20’0204H
Node A Status Register
0000H
CAN_AIR
20’0208H
Node A Interrupt Pending Register
0000H
CAN_ABTRL
20’020CH
Node A Bit Timing Register Low
0000H
CAN_ABTRH
20’020EH
Node A Bit Timing Register High
0000H
CAN_AGINP
20’0210H
Node A Global Int. Node Pointer Register 0000H
CAN_AFCRL
20’0214H
Node A Frame Counter Register Low
0000H
CAN_AFCRH
20’0216H
Node A Frame Counter Register High
0000H
CAN_AIMRL0
20’0218H
Node A INTID Mask Register 0 Low
0000H
CAN_AIMRH0
20’021AH
Node A INTID Mask Register 0 High
0000H
CAN_AIMR4
20’021CH
Node A INTID Mask Register 4
0000H
CAN_AECNTL
20’0220H
Node A Error Counter Register Low
0000H
CAN_AECNTH
20’0222H
Node A Error Counter Register High
0060H
CAN_BCR
20’0240H
Node B Control Register
0001H
CAN_BSR
20’0244H
Node B Status Register
0000H
CAN_BIR
20’0248H
Node B Interrupt Pending Register
0000H
CAN_BBTRL
20’024CH
Node B Bit Timing Register Low
0000H
CAN_BBTRH
20’024EH
Node B Bit Timing Register High
0000H
CAN_BGINP
20’0250H
Node B Global Int. Node Pointer Register 0000H
CAN_BFCRL
20’0254H
Node B Frame Counter Register Low
0000H
CAN_BFCRH
20’0256H
Node B Frame Counter Register High
0000H
CAN_BIMRL0
20’0258H
Node B INTID Mask Register 0 Low
0000H
CAN_BIMRH0
20’025AH
Node B INTID Mask Register 0 High
0000H
CAN_BIMR4
20’025CH
Node B INTID Mask Register 4
0000H
TwinCAN
User’s Manual
RegSet_X7, V2.0
23-16
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-2
LXBUS Register Listing (cont’d)
Short Name
Physical
Address
Description
Reset
Value
CAN_BECNTL
20’0260H
Node B Error Counter Register Low
0000H
CAN_BECNTH
20’0262H
Node B Error Counter Register High
0060H
CAN_RXIPNDL
20’0284H
Receive Interrupt Pending Register Low
0000H
CAN_RXIPNDH
20’0286H
Receive Interrupt Pending Register High
0000H
CAN_TXIPNDL
20’0288H
Transmit Interrupt Pending Register Low
0000H
CAN_TXIPNDH
20’028AH
Transmit Interrupt Pending Register High
0000H
CAN_0IC
00’F196H1)
TwinCAN Interrupt Control Register 0
0000H
CAN_1IC
00’F142H1)
TwinCAN Interrupt Control Register 1
0000H
CAN_2IC
00’F144H1)
TwinCAN Interrupt Control Register 2
0000H
CAN_3IC
00’F146H1)
TwinCAN Interrupt Control Register 3
0000H
CAN_4IC
00’F148H1)
TwinCAN Interrupt Control Register 4
0000H
CAN_5IC
00’F14AH1)
TwinCAN Interrupt Control Register 5
0000H
CAN_6IC
1)
TwinCAN Interrupt Control Register 6
0000H
1)
TwinCAN Interrupt Control Register 7
0000H
Interrupt Control
00’F14CH
CAN_7IC
00’F14EH
1) This register is located in the ESFR area.
The base address of each Message Object n, where n = 0-31, is listed in Table 23-3.
The offset address of each register in Message Object n is given in Table 23-4.
Table 23-3
Base Address of Message Objects
Message Object Number
Base Address
Message Object 0
20’0300H
Message Object 1
20’0320H
Message Object 2
20’0340H
Message Object 3
20’0360H
Message Object 4
20’0380H
Message Object 5
20’03A0H
Message Object 6
20’03C0H
Message Object 7
20’03E0H
Message Object 8
20’0400H
User’s Manual
RegSet_X7, V2.0
23-17
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-3
Base Address of Message Objects (cont’d)
Message Object Number
Base Address
Message Object 9
20’0420H
Message Object 10
20’0440H
Message Object 11
20’0460H
Message Object 12
20’0480H
Message Object 13
20’04A0H
Message Object 14
20’04C0H
Message Object 15
20’04E0H
Message Object 16
20’0500H
Message Object 17
20’0520H
Message Object 18
20’0540H
Message Object 19
20’0560H
Message Object 20
20’0580H
Message Object 21
20’05A0H
Message Object 22
20’05C0H
Message Object 23
20’05E0H
Message Object 24
20’0600H
Message Object 25
20’0620H
Message Object 26
20’0640H
Message Object 27
20’0660H
Message Object 28
20’0680H
Message Object 29
20’06A0H
Message Object 30
20’06C0H
Message Object 31
20’06E0H
User’s Manual
RegSet_X7, V2.0
23-18
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Register Set
Table 23-4
Offset Address of Message Object Registers
Short Name
Offset
Address
Description
Reset
Value
CAN_
MSGDRLn0
00H
Message Object n Data Register 0 Low
0000H
CAN_
MSGDRHn0
02H
Message Object n Data Register 0 High
0000H
CAN_
MSGDRLn4
04H
Message Object n Data Register 4 Low
0000H
CAN_
MSGDRHn4
06H
Message Object n Data Register 4 High
0000H
CAN_
MSGARLn
08H
Message Object n Arbitration Register
Low
0000H
CAN_
MSGARHn
0AH
Message Object n Arbitration Register
High
0000H
CAN_
MSGAMRLn
0CH
Message Object n Acceptance Mask
Register Low
0000H
CAN_
MSGAMRHn
0EH
Message Object n Acceptance Mask
Register High
0000H
CAN_
MSGCTRLn
10H
Message Object n Control Register Low
0000H
CAN_
MSGCTRHn
12H
Message Object n Control Register High
0000H
CAN_
MSGCFGLn
14H
Message Object n Configuration Register
Low
0000H
CAN_
MSGCFGHn
16H
Message Object n Configuration Register
High
0000H
CAN_
MSGFGCRLn
18H
Message Object n FIFO/Gateway Control 0000H
Register Low
CAN_
MSGFGCRHn
1AH
Message Object n FIFO/Gateway Control 0000H
Register High
Note: n = 0 to 31
User’s Manual
RegSet_X7, V2.0
23-19
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Keyword Index
Keyword Index
This section lists a number of keywords which refer to specific details of the XC167 in
terms of its architecture, its functional units or functions. This helps to quickly find the
answer to specific questions about the XC167.
This User’s Manual consists of two Volumes, “System Units” and “Peripheral Units”. For
your convenience this keyword index (and also the table of contents) refers to both
volumes, so you can immediately find the reference to the desired section in the
corresponding document ([1] or [2]).
A
BG 19-22 [2]
RBUF 19-12 [2], 19-20 [2]
TBUF 19-9 [2], 19-20 [2]
Transmit FIFO 19-9 [2]
ASCx_BG 19-42 [2]
ASCx_CON 19-40 [2]
ASCx_FDV 19-43 [2]
Auto Scan conversion 16-12 [2]
Autobaud Detection 19-27 [2]
Acronyms 1-9 [1]
Adapt Mode 6-21 [1]
ADC 2-22 [1], 16-1 [2]
ADC_CIC, ADC_EIC 16-21 [2]
ADC_CON 16-3 [2]
ADC_CON1 16-4 [2]
ADC_CTR0 16-5 [2]
ADC_CTR2 16-7 [2]
ADC_CTR2IN 16-7 [2]
Address
Boundaries 3-16 [1]
Mapping 3-3 [1]
Segment 6-19 [1]
Addressing Modes
CoREG Addressing Mode 4-51 [1]
DSP Addressing Modes 4-47 [1]
Indirect Addressing Modes 4-45 [1]
Long Addressing Modes 4-41 [1]
Short Addressing Modes 4-39 [1]
Alternate Port Functions 7-8 [1]
ALU 4-58 [1]
Analog/Digital Converter 16-1 [2]
Arbitration of conversions 16-16 [2]
ASC 19-1 [2]
ASCx_EIC, ASCx_RIC 19-35 [2]
ASCx_TIC, ASCx_TBIC 19-35 [2]
Autobaud Detection 19-27 [2]
Error Detection 19-34 [2]
Features and Functions 19-1 [2]
IrDA Frames 19-8 [2]
Register
User’s Manual
B
BANKSELx 5-33 [1]
Baudrate
ASC0 19-22 [2]
Bootstrap Loader 10-5 [1]
CAN 22-56 [2]
Bit
Handling 4-61 [1]
Manipulation Instructions 12-2 [1]
protected 2-32 [1], 4-62 [1]
reserved 2-16 [1]
Block Diagram ITC / PEC 5-3 [1]
Bootstrap Loader 6-21 [1], 10-1 [1]
Boundaries 3-16 [1]
Bus
ASC 19-1 [2]
CAN 2-25 [1]
IIC 2-26 [1], 21-1 [2]
Mode Configuration 6-20 [1]
SSC 20-1 [2]
i-1
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Keyword Index
C
CC63SR 18-41 [2]
CC6xR 18-18 [2]
CC6XSR 18-19 [2]
CCU6xIC 18-81 [2]
CCxIC 17-34 [2]
Chip Select
Configuration 6-19 [1]
Clock
generation 2-29 [1]
generator modes 6-18 [1]
output signal 6-39 [1]
CMPMODIF 18-47 [2]
CMPSTAT 18-46 [2]
Command sequences
(Flash) 3-20 [1]
Concatenation of Timers 14-22 [2],
14-45 [2]
Configuration
Address 6-19 [1]
Bus Mode 6-20 [1]
Chip Select 6-19 [1]
default 6-23 [1]
PLL 6-18 [1]
Reset 6-14 [1]
Reset Output 6-22 [1]
special modes 6-21 [1]
Write Control 6-20 [1]
Context
Pointer Updating 4-34 [1]
Switch 4-33 [1]
Switching 5-32 [1]
Conversion
analog/digital 16-1 [2]
Arbitration 16-16 [2]
Auto Scan 16-12 [2]
timing control 16-18 [2]
Count direction 14-6 [2], 14-35 [2]
Counter 14-20 [2], 14-43 [2]
Counter Mode (GPT1) 14-10 [2], 14-39 [2]
CP 4-36 [1]
CPU 2-2 [1], 4-1 [1]
CPUCON1 4-26 [1]
CPUCON2 4-27 [1]
Calibration 16-17 [2]
CAN
acceptance filtering 22-16 [2]
analysing mode 22-7 [2]
arbitration 22-16 [2]
baudrate 22-56 [2]
bit timing 22-9 [2], 22-56 [2]
bus off
recovery sequence 22-4 [2]
status bit 22-51 [2]
CAN siehe TwinCAN 22-1 [2]
error counters 22-55 [2]
error handling 22-11 [2]
error warning level 22-55 [2]
frame counter/time stamp 22-55 [2],
22-58 [2]
Interface 2-25 [1]
single data transfer 22-23 [2]
CAPCOM 2-18 [1]
CAPCOM12 2-16 [1]
Capture Mode 17-13 [2]
Counter Mode 17-8 [2]
CAPREL 14-54 [2]
Capture Mode
GPT1 14-26 [2]
GPT2 (CAPREL) 14-46 [2]
Capture/Compare Registers 17-10 [2]
CC1_DRM, CC2_DRM 17-23 [2]
CC1_IOC, CC2_IOC 17-29 [2]
CC1_M0-3 17-10 [2]
CC1_OUT, CC2_OUT 17-25 [2]
CC1_SEE, CC2_SEE 17-28 [2]
CC1_SEM, CC2_SEM 17-27 [2]
CC1_T01CON 17-5 [2]
CC1_T0IC 17-9 [2]
CC1_T1IC 17-9 [2]
CC2_M4-7 17-11 [2]
CC2_T78CON 17-5 [2]
CC2_T7IC 17-9 [2]
CC2_T8IC 17-9 [2]
CC63R 18-41 [2]
User’s Manual
i-2
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Keyword Index
Error Detection
ASC 19-34 [2]
SSC 20-14 [2]
EXICON 5-37 [1]
EXISEL0 5-38 [1]
EXISEL1 5-38 [1]
External
Bus 2-13 [1]
Fast interrupts 5-37 [1]
Interrupt pulses 5-40 [1]
Interrupt source control 5-37 [1]
Interrupts 5-35 [1]
Interrupts during sleep mode 5-39 [1]
CRIC 14-55 [2]
CSP 4-38 [1]
D
Data Management Unit (Introduction)
2-9 [1]
Data Page 4-42 [1]
boundaries 3-16 [1]
Data SRAM 3-10 [1]
Default startup configuration 6-23 [1]
Development Support 1-8 [1]
Direction
count 14-6 [2], 14-35 [2]
Disable
Interrupt 5-29 [1]
Division 4-63 [1]
Double-Register Compare 17-22 [2]
DP0L, DP0H 7-10 [1]
DP1L, DP1H 7-14 [1]
DP20 7-82 [1]
DP3 7-24 [1], 7-29 [1]
DP4 7-41 [1], 22-85 [2]
DP6 7-54 [1]
DP7 7-65 [1], 22-86 [2]
DP9 7-72 [1], 22-88 [2]
DPP 4-42 [1]
Driver characteristic (ports) 7-4 [1]
DSTPx 5-23 [1]
Dual-Port RAM 3-10 [1]
F
Fast external interrupts 5-37 [1]
FINT0ADDR 5-16 [1]
FINT0CSP 5-17 [1]
FINT1ADDR 5-16 [1]
FINT1CSP 5-17 [1]
Flags 4-57 [1]–4-60 [1]
Flash
command sequences 3-20 [1]
memory 3-12 [1]
memory mapping 3-17 [1]
waitstates 3-40 [1]
FOCON 6-40 [1]
Frequency
output signal 6-39 [1]
FSR 3-33 [1]
E
G
EBC
Bus Signals 9-3 [1]
Memory Table 9-29 [1]
EBCMOD0 9-12 [1]
Edge characteristic (ports) 7-5 [1]
EMUCON 6-48 [1]
Enable
Interrupt 5-29 [1]
End of PEC Interrupt Sub Node 5-28 [1]
EOPIC 5-27 [1]
Erase command (Flash) 3-22 [1]
Error correction 3-26 [1]
User’s Manual
Gated timer mode (GPT1) 14-9 [2]
Gated timer mode (GPT2) 14-38 [2]
GPR 3-6 [1]
GPT 2-19 [1]
GPT1 14-2 [2]
GPT12E_CAPREL 14-54 [2]
GPT12E_T2,-T3,-T4 14-29 [2]
GPT12E_T2CON 14-15 [2]
GPT12E_T2IC,-T3IC,-T4IC 14-30 [2]
GPT12E_T3CON 14-4 [2]
GPT12E_T4CON 14-15 [2]
i-3
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Keyword Index
Pipeline 4-11 [1]
protected 12-6 [1]
Interface
ASC 19-1 [2]
CAN 2-25 [1]
External Bus 9-1 [1]
IIC 2-26 [1], 21-1 [2]
SSC 20-1 [2]
Interrupt
Arbitration 5-4 [1]
during sleep mode 5-39 [1]
Enable/Disable 5-29 [1]
External 5-35 [1]
Fast external 5-37 [1]
input timing 5-40 [1]
Jump Table Cache 5-16 [1]
Latency 5-41 [1]
Node Sharing 5-34 [1]
Priority 5-7 [1]
Processing 5-1 [1]
RTC 15-12 [2]
source control 5-37 [1]
Sources 5-12 [1]
System 2-8 [1], 5-2 [1]
Vectors 5-12 [1]
Interrupt Handling
CAN transfer 22-6 [2]
IP 4-38 [1]
IrDA Frames ASC 19-8 [2]
IS 18-74 [2]
ISR 18-78 [2]
ISS 18-77 [2]
GPT12E_T5,-T6 14-54 [2]
GPT12E_T5CON 14-40 [2]
GPT12E_T5IC,-T6IC,-CRIC 14-55 [2]
GPT12E_T6CON 14-33 [2]
GPT2 14-31 [2]
H
Hardware
Traps 5-43 [1]
I
I2C 21-1 [2]
IDCHIP 6-64 [1]
Idle Mode 6-54 [1]
IDMANUF 6-64 [1]
IDMEM 6-65 [1]
IDPROG 6-65 [1]
IDX0, IDX1 4-47 [1]
IEN 18-79 [2]
IIC 21-1 [2]
Programming 21-16 [2]
Register Overview 21-12 [2]
IIC Interface 2-26 [1]
IIC_ADR 21-9 [2]
IIC_CFG 21-10 [2]
IIC_CON 21-5 [2]
IIC_DIC 21-18 [2]
IIC_PEIC 21-18 [2]
IIC_RTBH 21-11 [2]
IIC_RTBL 21-11 [2]
IIC_ST 21-7 [2]
IMB
block diagram 3-38 [1]
control functions 3-42 [1]
memories
wait states 3-42 [1]
IMBCTR 3-42 [1]
Incremental Interface Mode (GPT1)
14-11 [2]
Indication of reset source 6-46 [1]
INP 18-80 [2]
Instruction 12-1 [1]
Bit Manipulation 12-2 [1]
User’s Manual
L
Latency
Interrupt, PEC 5-41 [1]
LXBus 2-13 [1]
M
MAH, MAL 4-69 [1]
MAR 3-27 [1]
Margin check 3-26 [1]
Master mode
i-4
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Keyword Index
P
IIC Bus 21-12 [2]
MCMCTR 18-62 [2]
MCMOUT 18-60 [2]
MCMOUTS 18-59 [2]
MCW 4-66 [1]
MDC 4-64 [1]
MDH 4-63 [1]
MDL 4-64 [1]
Memory 2-10 [1]
Areas (Data) 3-9 [1]
Areas (Program) 3-11 [1]
DPRAM 3-10 [1]
DSRAM 3-10 [1]
External 3-15 [1]
Flash 3-12 [1]
Program Flash 3-17 [1]
PSRAM 3-12 [1]
MODCTR 18-50 [2]
MRW 4-72 [1]
MSW 4-70 [1]
Multimaster mode
IIC Bus 21-12 [2]
Multiplication 4-63 [1]
P0L, P0H 7-9 [1]
P1L, P1H 7-13 [1]
P3 7-24 [1], 7-29 [1]
P4 7-41 [1]
P5 7-50 [1], 7-51 [1]
P8 7-54 [1], 7-65 [1], 7-72 [1], 7-82 [1]
PEC 2-10 [1], 5-18 [1]
Latency 5-41 [1]
Transfer Count 5-19 [1]
PEC pointers 3-8 [1]
PECCx 5-19 [1]
PECISNC 5-27 [1]
PECSEGx 5-23 [1]
Peripheral
Event Controller --> PEC 5-18 [1]
Register Set 23-1 [2]
Summary 2-14 [1]
Phase Locked Loop (->PLL) 6-26 [1]
PICON 7-2 [1]
Pins 8-1 [1]
Pipeline 4-11 [1]
PLL 6-18 [1], 6-26 [1]
PLL_IC 6-38 [1]
PLLCON 6-32 [1]
POCON* 7-6 [1]
Port 2-27 [1]
Ports
Alternate Port Functions 7-8 [1]
Driver characteristic 7-4 [1]
Edge characteristic 7-5 [1]
Power Management 2-29 [1], 6-54 [1]
PROCON 3-29 [1]
Program Management Unit (Introduction)
2-9 [1]
Programming command (Flash) 3-22 [1]
Protected
Bits 2-32 [1], 4-62 [1]
instruction 12-6 [1]
Protection
commands (Flash) 3-24 [1]
features (Flash) 3-28 [1]
N
NMI 5-1 [1], 5-48 [1]
Noise filter (Ext. Interrupts) 5-39 [1]
O
OCDS
Requests 5-40 [1]
ODP3 7-25 [1], 7-30 [1]
ODP4 7-42 [1]
ODP6 7-55 [1]
ODP7 7-66 [1]
ODP9 7-73 [1]
ONES 4-74 [1]
Open Drain Mode 7-3 [1]
OPSEN 6-49 [1]
Oscillator
circuitry 6-27 [1], 6-29 [1]
measurement 6-27 [1], 6-29 [1]
Watchdog 6-22 [1], 6-38 [1]
User’s Manual
i-5
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Keyword Index
boundaries 3-16 [1]
Segmentation 4-37 [1]
Self-calibration 16-17 [2]
Serial Interface 2-23 [1], 2-24 [1]
ASC 19-1 [2]
Asynchronous 19-5 [2]
CAN 2-25 [1]
IIC 2-26 [1], 21-1 [2]
SSC 20-1 [2]
Synchronous 19-19 [2]
SFR 3-5 [1]
Sharing
Interrupt Nodes 5-34 [1]
Slave mode
IIC Bus 21-13 [2]
Sleep mode 6-56 [1]
Software
Traps 5-43 [1]
Source
Interrupt 5-12 [1]
Reset 6-46 [1]
SP 4-54 [1]
Special operation modes (config.) 6-21 [1]
SPSEG 4-54 [1]
SRAM
Data 3-10 [1]
SRCPx 5-23 [1]
SSC 20-1 [2]
Baudrate generation 20-12 [2]
Block diagram 20-3 [2]
Continous transfer operation 20-12 [2]
Error detection 20-14 [2]
Full duplex operation 20-8 [2]
General Operation 20-1 [2]
Half duplex operation 20-11 [2]
Interrupts 20-14 [2]
SSCx_CON 20-4 [2], 20-5 [2]
Stack 3-13 [1], 4-53 [1]
Startup Configuration 6-14 [1]
STKOV 4-56 [1]
STKUN 4-56 [1]
SYSCON0 6-43 [1]
SYSCON1 6-44 [1]
PSLR 18-70 [2]
PSW 4-57 [1]
Q
QR0 4-46 [1]
QR1 4-46 [1]
QX0, QX1 4-48 [1]
R
RAM
data SRAM 3-10 [1]
dual ported 3-10 [1]
program/data 3-12 [1]
status after reset 6-7 [1]
Real Time Clock (->RTC) 2-21 [1], 15-1 [2]
Register Areas 3-4 [1]
Register map
TwinCAN module 22-47 [2]
Register Table
LXBUS Peripherals 23-16 [2]
PD+BUS Peripherals 23-1 [2]
RELH, RELL 15-9 [2]
Reserved bits 2-16 [1]
Reset 6-2 [1]
Configuration 6-14 [1]
Output 6-9 [1]
Source indication 6-46 [1]
Values 6-6 [1]
RSTCFG 6-16 [1]
RSTCON 6-24 [1]
RTC 2-21 [1], 15-1 [2]
RTC_CON 15-5 [2]
RTC_IC 15-13 [2]
RTC_ISNC 15-13 [2]
RTCH, RTCL 15-8 [2]
S
SCUSLC 6-52 [1]
SCUSLS 6-51 [1]
Security
features (Flash) 3-28 [1]
Segment
Address 6-19 [1]
User’s Manual
i-6
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Keyword Index
TwinCAN
FIFO
base object 22-24 [2]
circular buffer 22-26 [2]
configuration 22-73 [2]
for CAN messages 22-24 [2]
gateway control 22-73 [2]
slave objects 22-26 [2]
frames
counter 22-8 [2]
handling 22-17 [2]
gateway
configuration 22-73 [2]
normal mode 22-29 [2]
shared mode 22-36 [2]
with FIFO 22-33 [2]
initialization 22-40 [2]
interrupts
indication/INTID 22-13 [2],
22-53 [2]
node pointer/request compressor
22-5 [2]
loop-back mode 22-44 [2]
message handling 22-15 [2]
FIFO 22-24 [2]
gateway overview 22-28 [2]
gateway+FIFO 22-33 [2]
normal gateway 22-29 [2]
shared gateway 22-36 [2]
transfer control 22-41 [2]
message interrupts 22-13 [2]
message object
configuration 22-71 [2]
control bits 22-68 [2]
interrupt indication 22-13 [2]
interrupts 22-13 [2]
register description 22-64 [2]
transfer handling 22-17 [2]
node control 22-7 [2]
node interrupts 22-11 [2], 22-12 [2]
node selection 22-71 [2]
overview 22-1 [2]
register map 22-47 [2]
SYSCON3 6-58 [1]
SYSSTAT 6-45 [1]
T
T0IC 17-9 [2]
T12 18-6 [2]
T12DTC 18-24 [2]
T12MSEL 18-20 [2]
T12PR 18-6 [2]
T13 18-32 [2]
T13PR 18-32 [2]
T1IC 17-9 [2]
T2, T3, T4 14-29 [2]
T2CON 14-15 [2]
T2IC, T3IC, T4IC 14-30 [2]
T3CON 14-4 [2]
T4CON 14-15 [2]
T5, T6 14-54 [2]
T5CON 14-40 [2]
T5IC, T6IC 14-55 [2]
T6CON 14-33 [2]
T7IC 17-9 [2]
T8IC 17-9 [2]
TCTR0 18-42 [2]
TCTR2 18-44 [2]
TCTR4 18-45 [2]
TFR 5-45 [1]
Timer 14-2 [2], 14-31 [2]
Auxiliary Timer 14-15 [2], 14-40 [2]
Concatenation 14-22 [2], 14-45 [2]
Core Timer 14-4 [2], 14-33 [2]
Counter Mode (GPT1) 14-10 [2],
14-39 [2]
Gated Mode (GPT1) 14-9 [2]
Gated Mode (GPT2) 14-38 [2]
Incremental Interface Mode (GPT1)
14-11 [2]
Mode (GPT1) 14-8 [2]
Mode (GPT2) 14-37 [2]
Tools 1-8 [1]
Transmit FIFO ASC 19-9 [2]
Traps 5-43 [1]
TRPCTR 18-65 [2]
User’s Manual
i-7
V1.0, 2004-06
XC167-32 Derivatives
Peripheral Units (Vol. 2 of 2)
Keyword Index
BGINP 22-61 [2]
BIMR0H 22-62 [2]
BIMR0L 22-62 [2]
BIMR4 22-63 [2]
BIR 22-53 [2]
BSR 22-51 [2]
MSGAMRHn 22-67 [2]
MSGAMRLn 22-67 [2]
MSGARHn 22-66 [2]
MSGARLn 22-66 [2]
MSGCFGHn 22-71 [2]
MSGCFGLn 22-71 [2]
MSGCTRHn 22-68 [2]
MSGCTRLn 22-68 [2]
MSGDRH0 22-64 [2]
MSGDRH4 22-65 [2]
MSGDRL0 22-64 [2]
MSGDRL4 22-65 [2]
MSGFGCRHn 22-74 [2]
MSGFGCRLn 22-74 [2]
RXIPNDH 22-80 [2]
RXIPNDL 22-80 [2]
TXIPNDH 22-81 [2]
TXIPNDL 22-81 [2]
registers (global)
receive interrupt pending 22-80 [2]
transmit interrupt pending 22-81 [2]
registers (message specific)
acceptance mask 22-67 [2]
arbitration (identifier) 22-66 [2]
configuration 22-71 [2]
control 22-68 [2]
data 22-64 [2]
registers (node specific)
bit timing 22-56 [2]
control 22-49 [2]
error counter 22-55 [2]
frame counter 22-58 [2]
global interrupt node pointer
22-61 [2]
interrupt pending 22-53 [2]
INTID mask 22-62 [2]
status 22-51 [2]
single transmission 22-45 [2]
single-shot mode 22-23 [2]
transfer interrupts 22-6 [2]
TwinCAN Registers (short names)
ABTRH 22-56 [2]
ABTRL 22-56 [2]
ACR 22-49 [2]
AECNTH 22-54 [2]
AECNTL 22-54 [2]
AFCRH 22-58 [2]
AFCRL 22-58 [2]
AGINP 22-61 [2]
AIMR0H 22-62 [2]
AIMR0L 22-62 [2]
AIMR4 22-63 [2]
AIR 22-53 [2]
ASR 22-51 [2]
BBTRH 22-56 [2]
BBTRL 22-56 [2]
BCR 22-49 [2]
BECNTH 22-54 [2]
BECNTL 22-54 [2]
BFCRH 22-58 [2]
BFCRL 22-58 [2]
User’s Manual
V
VECSEG 5-11 [1]
W
Waitstates
Flash 3-40 [1]
Watchdog 2-26 [1], 6-59 [1]
after reset 6-7 [1]
Oscillator 6-22 [1], 6-38 [1]
WDT 6-60 [1]
WDTCON 6-62 [1]
Z
ZEROS 4-74 [1]
i-8
V1.0, 2004-06
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Published by Infineon Technologies AG